Mr Tiwari has held prominent ministerial positions in the past
The governor of the southern Indian state of Andhra Pradesh has returned to the capital Delhi after resigning following an alleged sex scandal.
ND Tiwari, who is also a leading Congress party member, resigned after a regional channel aired footage of him allegedly in bed with three women.
Mr Tiwari's office has denied the allegation, saying that the video had been doctored.
The 86-year-old Mr Tiwari has been a federal minister in past governments.
He resigned on "health grounds" on Saturday evening, his office said.
Opposition parties and women's right groups protested in the Andhra Pradesh capital, Hyderabad, after the footage allegedly showing Mr Tiwari in bed with three women was broadcast.
The channel reported that the women had been brought to Mr Tiwari by a woman who had allegedly been promised a mining lease by the former governor.
The channel said the woman had decided to "expose" Mr Tiwari as "he had not kept his promise".
"The news channel report is fabricated, false and malicious to tarnish the image of the governor," said a statement issued by an aide to the governor.
Mr Tiwari's resignation comes at a time when Andhra Pradesh has been rocked by protests over the federal government's decision to allow a new state in the Telangana region.
An estimated 35 million people will live in the new state.
Mr Tiwari is a top Congress party politician and has previously served as the chief minister of northern Uttar Pradesh and Uttarakhand states and as a federal minister.