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Watch a clip of Prince Andrew in the documentary below:
Prince Philip died in April aged 99 following a lengthy hospital stay earlier in the year.
The BBC gave the Royals a platform to pay tribute to The Duke of Edinburgh in order to share their memories of him and to discuss his life and work.
Members of the Royal family who were interviewed for the hour long tribute include Prince Harry, Prince William, Prince Charles, and Princess Beatrice and Anne, Princess Royal.
Some viewers took issue with Prince Andrew's appearance, who was officially served with legal papers notifying him of the sexual abuse lawsuit filed by accuser Virginia Giuffre this week.
One viewer tweeted and tagged the BBC's official Twitter account during the broadcast on Thursday asking why Prince Andrew was included. "@BBCOne are you being serious interviewing 'HRH Prince Andrew'. Very disappointed that you feel that this is acceptable."
While a second person reacted in a similar way, writing: "I can’t believe prince Andrew is on #TheRoyalFamilyRemembers after all that’s happening. He should be speaking to the FBI, not to a doc on BBC."
A third viewer tweeted they turned off the tribute after seeing Prince Andrew in light of the allegations. "Turned off the BBC tribute to Prince Philip - whom I had no problem with and thought amusing - in utter disgust," they wrote.
"What a shocking decision to include him now."
A BBC spokesperson told Tyla: "The Duke of York was interviewed alongside all the other children and grandchildren of The Duke of Edinburgh to pay tribute to his father."
Virginia Giuffre filed a lawsuit against Prince Andrew last month, accusing the son of Queen Elizabeth II and Prince Philip of sexual abuse when she was under the age of 18.
It claims that on one occasion, Virginia was sexually abused at paedophile Jeffrey Epstein’s mansion as well as his private island.
In a separate incident, Virginia claims she was forced to have intercourse with the prince in London - at Ghislaine Maxwell's home.
Prince Andrew has always denied any sexual contact or relationship with Virginia.
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