Troubled royal Prince Andrew arrives at Buckingham Palace for Queen’s Christmas lunch

Prince Andrew was one of the guests at the Queen’s annual Christmas lunch for the Royal Family on Wednesday afternoon.

The troubled Duke of York was pictured arriving at Buckingham Palace, in London, alongside his brothers Charles and Edward, his nephew William, and their families.

Andrew, 59, stepped down from public duties after his BBC Newsnight interview last month was branded “disastrous and “excruciating”.

His attempt to explain his relationship with convicted sex offender Jeffrey Epstein backfired and he was heavily criticised for showing a lack of empathy towards Epstein’s victims and a lack of remorse over his friendship with the disgraced financier.

Prince William drives with his son Prince George, right, as they arrive at Buckingham Palace for the Queen's Christmas lunch. (AP)
Mike and Zara Tindall arriving at Buckingham Palace. (PA)

American Virginia Giuffre has claimed Epstein made her have sex with the prince when she was just 17.

She repeated the accusations on BBC’s Panorama programme in December.

In the Newsnight interview, the duke denied claims he slept with Ms Giuffre on three separate occasions, twice while she was underage.

He has also previously released statements denying the allegations.

The Duchess of Cambridge and her daughter Princess Charlotte arrive for the lunch. (PA)
Princess Beatrice was at the lunch with her dad Prince Andrew. (PA)

Other guests at the lunch included the Duchess of Cambridge, who travelled with her two younger children Charlotte, four, and 19-month-old Louis.

Prince George, six, hitched a ride with his dad in a separate car.

Mike and Zara Tindall were also at the Christmas bash alongside Countess of Wessex Sophie and her 16-year-old daughter Lady Louise Windsor.

READ MORE YAHOO NEWS HERE:

Archbishop of Canterbury appears to defend Prince Andrew: ‘Everyone makes mistakes

How the pre-Christmas royal lunch sets the tone for the Queen’s festive season

Prince Andrew uses pseudonym 'Andrew Inverness' to set up business with sports tycoon

Andrew’s daughter Beatrice, who has promised to stand by him, was at the lunch as well.

The Duke and Duchess of Sussex and baby Archie, who are currently abroad on a six-week holiday, were not expected to be at the palace.

Prince Philip, 98, was not spotted but may make an appearance.