Prince Andrew
Johanna Sjoberg alleges that the Duke of York touched her breast as they posed for a photo.Reuters

A woman who once worked as one of Jeffrey Epstein's personal masseuses has claimed she sat on Prince Andrew's knee and allowed him to put his hand on her breast for a photograph.

According to the Daily Mail, Johanna Sjoberg first met the Duke of York at Epstein's New York townhouse. She was employed by Epstein, a US banker and convicted sex offender, to answer the phones, serve drinks and later carry out massages. She worked for him for four years .

Recounting the incident Sjoberg revealed she was with another girl, Virginia Roberts, when the Duke of York was given a Spitting Image puppet by Epstein as a gift. She revealed that Ghislaine (Maxwell), daughter of newspaper mogul Robert Maxwell, was also present and joined in the joke, when the girls were invited to sit on Andrew's lap.

"Prince Andrew was there. Andrew was very charming. I didn't know exactly who he was but felt that I knew him. We had a picture taken. Virginia, another girl there, sat on a chair and had the puppet on her lap. Andrew sat on another chair, I sat on his lap – and he put his hand on my breast.

"Ghislaine (Maxwell) put the puppet's hand on Virginia's breast, then Andrew put his hand on mine. It was a great joke," she explained.

Sjoberg described witnessing frequent occasions when Epstein "ordered girls" to be "loaned" out to his wealthy, and powerful friends.

She recalled overhearing a conversation between the banker and his assistant in Palm Beach in 2004 or 2005, in which he instructed her to arrange for two girls to be sent for a friend.

"The conversation went: 'So-and-so's in Hawaii, can we find some girls for him'," she said.

"I didn't realise Jeffrey even knew this person but the thing that shocked me most was that it seemed so normal for him to ask someone to find a couple of girls and send them over."

She recounted how, often, when she was giving him massages, he would make phone calls to famous friends such as Bill Clinton and Cate Blanchett.

She revealed she quit her job after Epstein demanded that she "do sexual things to him."

Commenting on claims by Virginia Roberts that she was flown by Epstein to London to meet Prince Andrew, when she was just 17-years-old, Miss Sjoberg said: "I'm not surprised he was sending girls abroad. I just did not think they were so young."

Roberts is one of the women who allege that she was kept by Epstein as an underage sex slave.

Her comments come as it was revealed that US court papers allege that Prince Andrew had repeated sexual relations with an underage sex slave, who was loaned to the rich and powerful by Epstein.

The woman alleges she was flown to London, New York and the Caribbean by Epstein, and forced to have sex with the Duke of York, The Guardian reported. The papers allege she was 17 at the time –a minor in the state of Florida, where the court papers have been filed.

She claims she was forced to have sex with Prince Andrew on three separate occasions - including at an orgy – and has said that she will 'not be bullied back into silence' and 'victimised'.

Named in court papers only as 'Jane Doe 3' she said: "I am looking forward to vindicating my rights as an innocent victim and pursuing all available recourse. It appears that I am now being unjustly victimized again. These types of aggressive attacks on me are exactly the reason why sexual abuse victims typically remain silent and the reason why I did for a long time. That trend should change. I'm not going to be bullied back into silence."

The Prince has insisted that any suggestion of wrongdoing on his part is 'categorically untrue'.

A spokesman for the royal said: "This relates to long-standing and ongoing civil proceedings in the United States, to which The Duke of York is not a party. As such we would not comment on the detail. However, for the avoidance of doubt, any suggestion of impropriety with underage minors is categorically untrue."