During the interview, filmed at Buckingham Palace on Thursday, the duke faced questions about his links with the disgraced financier, who was found dead in his prison cell in NY earlier this year where he was being held on sex trafficking charges.
Prince Andrew, seen here on June 6, 2012, says in a BBC interview scheduled to be broadcast November 16, 2019 that he doesn't remember a woman who has accused him of sexually exploiting her in encounters arranged by Jeffrey Epstein.
In a clip played on BBC News tonight, he said: "I stayed with him and that's...that's...that's the bit that...that...that, as it were, I kick myself for on a daily basis because it was not something that was becoming of a member of the royal family and we try and uphold the highest standards and practices and I let the side down, simple as that".
But since an avalanche of fresh allegations against Epstein and his death in a NY jail, Andrew said "I kick myself" for his association with the financier.
Britain's Prince Andrew has said he has "no recollection" of meeting the woman who claims she was forced into a sexual encounter with him. It is not yet known whether there are plans to air the interview in the US, but clips will be available on the BBC website and social media pages.
Sjoberg testified the incident was sparked when "someone" suggested those gathered take a picture, at which point Sjoberg said she and Ghislaine Maxwell (Epstein's former girlfriend and alleged "madam") went to a closet and grabbed a puppet of Andrew.
"You don't remember meeting her?" He recently apologised over his friendship with Epstein.
Prince Andrew will speak about his involvement with Epstein in a tell-all interview on Saturday night.
'Any suggestion of impropriety with underage minors is categorically untrue'. By then, Epstein was a registered sex offender, who'd done jail time.
In August, Buckingham Palace issued a statement after a video was released purporting to show Andrew at the home of Epstein in 2010.
The Duke of York was previously pictured with Ms Roberts at an Epstein party when she was 17.
Epstein pleaded guilty in 2008 to two state prostitution charges, ultimately serving only 13 months and avoiding a federal trial.
In August, Buckingham Palace said in a statement that Andrew was "appalled by the recent reports of Jeffrey Epstein's alleged crimes".