Prince Andrew stepped back from public duties last month following backlash from the BBC interview in which he sought to address sexual allegations made against him.
His failure to apologise to Epstein's victims and his lack of recollection of Virginia Giuffre, who claims she was forced to sleep with the Prince as a teenager lead to a number of organisations dropping him as a patron.
He has always maintained the claims against him are false.
The Queen and her son are due to attend St Mary Magdalane Church on the monarch's Norfolk estate for a Christmas Day service, accompanied by the royal family.
A Buckingham Palace spokesman told the Times: "The Duke of York is still a part of the royal family and you can expect to see him at family occasions."
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