The assault allegedly happened Monday night after a woman said she stopped at a gas station and a man she did not know asked her for a ride.
She told police she then agreed to take him to a home in the 1600 block of Ford Lane.
She said later that evening, she woke up to being sexually assaulted by someone at the home, after two other suspects reportedly stole her car.
A neighbor later discovered the woman at the home Tuesday morning and called police.
Authorities arrested 31-year-old Terrell Lavonne Howard at the scene and charged him with second-degree rape.
He is currently being held at the Cumberland County Detention Center under a $250,000 bond.
Police are still trying to identify the suspects responsible for stealing the woman's vehicle.