Officers have been investigating an incident in Manor Road which was reported to have happened between midnight and 12.45am on Monday 13 May 2024.
It is alleged that a 17-year-old girl was walking in the area when a car with four men inside, whom she did not know, approached her.
The teenager later reported that she had been sexually assaulted and was raped by one man.
On 17 May police arrested and later charged Harjeet Singh, 26, of Wellington Street, Gravesend, with rape and sexual assault by touching.
Mr Singh is due to appear at Maidstone Crown Court on Saturday 18 May 2024.
