Prince William and Prince Charles were reportedly dismayed at Prince Andrew's role in Prince Philip's memorial service amid suggestions that Queen Elizabeth II was giving a sign of "endorsement in her son."

According to Daily Mail, Prince Andrew has insisted on accompanying the Queen from Windsor Castle to the thanksgiving event for the late Duke of Edinburgh at Westminster Abbey in London on Tuesday. But some reports said it was the Queen who insisted that she be escorted by Andrew.

Prince Andrew has escorted his mother all the way to her front-row position to the shock of many in the congregation. It was shown in full view of the live broadcast cameras.

Prince Charles and Prince William Were Dismayed That Prince Andrew Assisted Queen Elizabeth

It was Prince Andrew's first public appearance since he struck the out-of-court settlement with Jeffrey Epstein victim, Virginia Roberts Giuffre, who had accused him of rape.

The Dean of Westminster had been expected to take the Queen to her seat, with the Duke of York behind. Senior royals had reportedly reluctantly accepted that Andrew would travel with the Queen to London as they live close.

A family source told The Daily Mail that the senior royals, including Prince Charles and Prince William, were dismayed by the events, and Andrew's decision to put himself "front and center" of the service had caused "consternation."

Sources said there was a "strong sense of regret" over the incident. Former BBC royal correspondent Jennie Bond told The Express it was the Queen's way of quietly saying that "he messed up really badly, this was a disgrace, but he is my son."

Royal commentator Robert Jobson said the gesture shows that the Queen "wholeheartedly loves and believes her son." Jobson likened the incident to the Queen's statement about Camilla being the "Queen's Consort." 

According to People, many people will now accept the Queen's word and judgment. Jobson said there was disquiet among senior family members about Prince Andrew escorting the Queen, "but she insisted."

The royal commentator said the Queen has faith in Andrew, adding that even if the Duke of York disappears from public life, he has been able to pay tribute to his father.

The Queen traveled by car from Windsor accompanied by her disgraced son. It was six weeks after Andrew settled the sexual assault lawsuit with Giuffre.

The Queen's appearance on Tuesday was the first time that the 95-year-old monarch has been at a public event outside of a royal residence since mid-October. She appeared to be in good health as she attended the emotional service in honor of her husband of 73 years. 

READ NEXT: Royal Family Facing "Mounting Distress" Over Queen Elizabeth's COVID-19 Diagnosis, Source Close to the Family Says 

Prince Andrew's Sexual Assault Lawsuit

Last month, Prince Andrew agreed to settle the sexual assault lawsuit from Virginia Roberts Giuffre but made no apology to her or admitted any guilt.

Giuffre, who was also one of the victims of late sex offender Jeffrey Epstein, accused the Duke of York of raping her when she was 17.

The amount that the 61-year-old prince would pay Giuffre was confidential. But the Daily Mail disclosed that Prince Andrew would pay Giuffre at least £12 million with the help of his mother.

The outlet noted that the Queen would partly fund the settlement. Legal analysts and palace watchers said there was no obvious path for Andrew to return to his royal status despite settling the lawsuit.

Nick Goldstone, an attorney and the head of dispute resolution at the Ince law firm in London, earlier noted that it looks very much like an admission of bad conduct from the prince in the court of public opinion.

Dickie Arbiter, a former Buckingham Palace spokesman, said the situation will probably bring a certain "amount of relief for the royal family." However, Arbiter added that it would not ensure that Prince Andrew's place would be restored.

READ MORE: Queen Elizabeth II Warns British Media to Stay Away From Balmoral - And Her Son Prince Andrew 

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Written by: Mary Webber

WATCH: Queen Elizabeth Arrives on Andrew's Arm to Prince Philip's Memorial Service - From The Independent