The new pictures show the prince, dressed casually in an open-necked burgundy shirt, putting cupcakes and toiletries into bright pink gift bags with Sarah, who is wearing a floral headband and checked shirt.
The couple then personally delivered their packages to the Thames Hospice in Windsor, where they were also photographed with staff.
The hospice later tweeted that it had been "deeply honoured" by their kindness, adding: "Our nursing team are simply thrilled and loving the gorgeous products."
Sarah, her younger daughter Princess Eugenie and Eugenie's husband Jack Brooksbank, have been using their contacts to organise care package drop-offs to NHS facilities across London and the wider region during the coronavirus crisis.
But this is the first time that Andrew himself has been seen getting involved.
The prince's public image has taken a hammering over the Epstein scandal. In particular, he has been accused by one of the millionaire financier's victims, Virginia Guiffre, of having sex with her three times when she was only 17.
Andrew has always strongly denied the allegation, claiming he had no recollection of them even meeting, despite them being photographed together.
He insists that despite a friendship spanning more than 10 years, he was never aware of the prolific paedophile's crimes and visited him even after he was jailed for child sex offences.
The royal has been under increasing pressure in recent months to co-operate with the FBI and other investigators who are looking into the Epstein case following his apparent suicide in jail, while awaiting charges of child sex trafficking, last summer.
Last month, however, US attorney Geoffrey Berman claimed Andrew "has now completely shut the door on voluntary co-operation".
It subsequently emerged that the prince has hired Britain's most respected extradition lawyer, Clare Montgomery QC, whose clients have included Augusto Pinochet, Chile's former dictator.
Buckingham Palace has distanced itself from the ongoing crisis, claiming that the Queen's son is no longer a working royal and they no longer represent him.
