It comes after Virginia Giuffre, who alleged she was trafficked to the United Kingdom aged 17 to sleep with the duke, criticised the Metropolitan police for failing to subject her complaint to a full inquiry in 2015.
"It was a really scary time in my life", she said.
"He knows what happened, I know what happened, and there's only one of us telling the truth", Giuffre, who claims Epstein made her have sex with the prince three times, says in the teaser.
One date she named couldn't be right, Prince Andrew said, because he was at home with his children.
Sources told Britain's The Sun that there is talk behind closed doors that the Queen, who has cut down on her royal duties and appearances in recent years, can not continue forever and that she will "retire" in April 2021 when she turns 95.
Andrew, 59, is said to have held crisis talks with Charles, 71, by telephone before he was summoned to Buckingham Palace by the Queen.
Roberts, now known as Virginia Giuffre, made the comment in a BBC interview that is scheduled to air on Monday.
Virginia Giuffre was pictured with Prince Andrew in 2001 at Ghislaine Maxwell's house in London. The allegation was made against a United States national, Jeffrey Epstein, and a British woman.
"The MPS always takes any allegations concerning sexual exploitation seriously".
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Mr Hartzer is the third chief executive among Australia's "big four" banks to depart since the royal commission began in 2018. In theory, Westpac could face a fine up to 483 trillion Australian dollars (US $330 trillion).
She says the force failed to check her allegation that she had been trafficked to London in 2001 by Epstein.
The Met confirmed on Thursday that they had indeed launched the probe, interviewed Guiffe, got the advice from the Crown Prosecution Service, and decided the case was out of their jurisdiction to proceed with a full criminal investigation.
Commander Murray said that "our position remains unchanged".
"Following the legal advice, it was clear that any investigation into human trafficking would be largely focused on activities and relationships outside the UK" he said.
Metropolitan Police Cmdr. Alex Murray said the department interviewed Roberts - who was not named in the statement - and consulted with prosecutors before concluding in November 2016 that it "was not the appropriate authority to conduct inquiries in these circumstances".
The prince announced a few days later that he was stepping back from public duties "for the foreseeable future".
Epstein was found dead on August 10 in his prison cell in NY, where he was being held on sex trafficking charges.
The Express is reporting that Charles will be helped in managing royal affairs by Prince William.