And so Andrew and Virginia sat on the couch, and they put the puppet, the puppet on her lap.
Ms Maxwell, Epstein's former girlfriend, has denied the allegations.
The paper, from 2011, was released by a NY court from a defamation case between Ms Maxwell and Virginia, who is now 35 and a mum of three. I haven't spoken to him in 15 years.
Other documents show testimony from another woman who has alleged abuse at the hands of Epstein and Maxwell, and claimed in a deposition that Epstein told her that "in his opinion, he needed to have three orgasms a day".
The US Court of Appeals for the Second Circuit unsealed the documents, ruling that the judge in the defamation case had improperly sealed hundreds of filings.
A woman who has long claimed that Jeffrey Epstein and socialite Ghislaine Maxwell kept her as a "sex slave" alleges the duo forced her to have sex with two prominent Democratic politicians: George Mitchell and Bill Richardson.
Although nobody other than Epstein faced criminal charges in the case he was facing, there are now multiple pending civil lawsuits filed against those alleged to have aided Epstein, including one filed by Araoz which seeks the identity of her female recruiter.
In her own deposition, Maxwell called the claims another one of Giuffre's "many fictitious lies and stories to make this a salacious event to get interest and press". Also an official Statement by the Buckingham Palace followed: "Any accusations that it had come to unseemly incidents with Minors are categorically wrong".
Attorney Martin Weinberg has said Epstein has not committed crimes since pleading guilty to charges of soliciting a minor for prostitution in Florida in 2008.
An attorney for Epstein, Reid Weingarten, didn't immediately respond to a request for comment Friday, nor did an attorney for Maxwell.
Buckingham Palace said on Saturday this related to United States proceedings "to which the Duke Of York is not a party".
In a statement to CNN last month, the spokesperson said, "The Duke of York accepts it was unwise to have met Mr. Epstein in December 2010".
Giuffre has previously identified Epstein's lawyer, Alan Dershowitz, 80, and Prince Andrew, 59, as two of the people with whom she had sex.
She told the New Yorker magazine, "Ghislaine would say, 'We want you to please these men in whatever way they want, I don't care how gross or kinky it is".
At first, Araoz gave Epstein massages, which she said steadily escalated sexually.
Former President Bill Clinton and current President Donald Trump have also been linked to Epstein in the past.
She claims the second encounter was months later in NY.
His lawyers say the charges should never have been brought because Epstein is protected by an agreement he reached with federal prosecutors in Florida a dozen years ago.