Prince Andrew travels to Windsor in preparation for the memorial

Prince Andrew travels to Windsor in preparation for the memorial to Prince Philip’s father.

A stern-faced Prince Andrew was seen driving into Windsor Castle today as he prepared for what could be one of his last public appearances at Prince Philip’s memorial service next week.

The Duke of York was pictured this morning driving his Range Rover, accompanied by an assistant.

Andrew is said to be determined to honor his father’s memory, despite concerns that his presence at Westminster Abbey could dominate coverage of the event.

Andrew settled the rape case against him by Virginia Roberts in a US court earlier this month, paying her millions. He has always denied the allegations.

Courtiers believe the 62-year-old duke will disappear from public life after next week’s event, where he is likely to interact with representatives of charities and organizations he was forced to leave.

The Queen hosted a service of thanksgiving for her late husband’s life at Westminster Abbey on 29 March.

Royal expert Ingrid Seward said last month that Andrew would have to “lay low and just disappear” after the service.

A stern-faced Prince Andrew was seen driving into Windsor Castle today as he prepared for what could be one of his last public appearances at Prince Philip's memorial service next week.

A stern-faced Prince Andrew was seen driving into Windsor Castle today as he prepared for what could be one of his last public appearances at Prince Philip’s memorial service next week.

The Duke of York was pictured this morning driving his Range Rover, accompanied by an assistant.

The Duke of York was pictured this morning driving his Range Rover, accompanied by an assistant.

Andrew is said to be determined to honor his father's memory, despite concerns that his presence at Westminster Abbey could dominate coverage of the event.  Above: Andrew with Prince Charles, Princess Anne, Prince Edward, Prince William, Prince Harry, Peter Phillips, the Earl of Snowdon and Vice Admiral Sir Timothy Lawrence at Prince Philip's funeral last April.

Andrew is said to be determined to honor his father’s memory, despite concerns that his presence at Westminster Abbey could dominate coverage of the event. Above: Andrew with Prince Charles, Princess Anne, Prince Edward, Prince William, Prince Harry, Peter Phillips, the Earl of Snowdon and Vice Admiral Sir Timothy Lawrence at Prince Philip’s funeral last April.

It comes after Prince Andrew was seen smiling and laughing as he rode horseback in Windsor Great Park yesterday morning.

The Duke of York, who was accompanied by two suitors, generally kept out of the public eye after being forced by the Queen to relinquish all his royal duties following the Jeffrey Epstein scandal.

He also did not attend last week at Westminster Abbey for a Commonwealth service attended by senior members of the royal family including Charles, Camilla, William and Kate.

It comes two weeks after Andrew was confirmed to have paid up to £12 million to his US sexual accuser Virginia Roberts, now known as Virginia Giuffre, bringing the civil case against him in New York to near completion.

Courtiers believe the 62-year-old duke will disappear from public life after next week's event.  Pictured: Andrew is driving to Windsor this week

Courtiers believe the 62-year-old duke will disappear from public life after next week’s event. Pictured: Andrew is driving to Windsor this week

The “Firing Warning” documents were filed with the court on March 8, and lawyers for both parties called for the lawsuit to be dismissed, indicating that the settlement had been paid.

When the order was issued, the Treasury Department confirmed that taxpayer funds were not used to pay either Virginia Roberts or the Duke of York’s legal fees.

The Freedom of Information Request asked if any money from the Sovereign Grant to the Royal Family or any other public money was being used. The Treasury insisted, “No public money was used to pay legal or settlement fees.”

The joint ruling, filed in a New York court, states that each party will pay its own costs and fees.

When Judge Lewis Kaplan signs the order, the civil case will be formally closed. Andrew faced repeated calls to confirm how he funded the settlement – and whether the Queen or even Prince Charles was involved.

The Duke of York (pictured with his mother and father) has generally kept out of the public eye after being forced by the Queen to give up all his royal duties following the Jeffrey Epstein scandal.

The Duke of York (pictured with his mother and father) has generally kept out of the public eye after being forced by the Queen to give up all his royal duties following the Jeffrey Epstein scandal.

Reports said they both may have helped Andrew pay or loan him money until the sale of the £17 million Swiss ski chalet he shares with ex-wife Sarah, Duchess of York goes through.

Mrs Giuffre sued Andrew for alleged sexual assault. She claimed he had sex with her when she was 17 after he was sold by his friend, the late billionaire pedophile Epstein.

The Duke will make a “substantial donation” to a sexual assault charity set up by Mrs Giuffre, a 38-year-old mother of three. He said he now regrets his association with Epstein.

Andrew, who was forced to retire from royal duties and public life as a result of the scandal, has previously stated that he does not remember meeting Mrs Giuffre and has always strongly denied her allegations.

But he agreed to a settlement last month. The prince has kept out of the public eye, but in recent weeks he has also been spotted driving his Range Rover in Windsor with Apple’s white airfields.

The Queen wanted the gathering to include family, friends, dignitaries and representatives from many of the organizations with which the Duke of Edinburgh was associated.

But Prince Harry will not be attending, saying he “doesn’t feel safe” visiting the UK without police protection.

Last month, there was an extraordinary legal battle over the prince’s safety during his visit to the UK.

He filed a lawsuit against the Department of the Interior after being told he would no longer be afforded the “same degree” of personal protection when visiting from the US, despite claiming he offered to pay for it himself.