Princess Beatrice has been pictured visiting her father, the beleaguered Duke of York, at his Windsor home.

Beatrice, 35, appeared in good spirits, smiling broadly as she drove herself through the gates at Royal Lodge.

Although long divorced, her parents, the Duke and Sarah, Duchess of York, both live in the sprawling, 30-room home.

The Duke has been keeping a low profile at the property this week as a New York court began releasing hundreds of documents relating to his friends, the late paedophile Jeffrey Epstein and jailed British socialite Ghislaine Maxwell.

The Duke is named in many of the legal papers concerning sexual abuse allegations made against him.

They reiterate claims that he groped Epstein employee Johanna Sjoberg at the billionaire financier’s New York home in 2001, when she was 20, and sexually assaulted and raped Virginia Giuffre three times when she was 17, including on one occasion in London.

The Duke has always denied any wrongdoing.