Investigators say the victim was awakened by a man who was sexually assaulting her. Authorities say the crime took place at a home in Littleton.
An arrest warrant was then issued for 44-year-old Carl Lester Vincent.
He turned himself in to authorities on May 5. Vincent is charged with second-degree rape and is being held under a $25,000 bond.
He is scheduled to appear in court on June 10.