The incident took place at around 2.15am on Saturday 20 March 2021, when it is alleged a woman woke to find a man she did not know in her bedroom.
The victim immediately raised the alarm and the man was detained by one of her relatives. Officers attended the scene and he was arrested and taken into custody.
David Tyler, of Wyles Road, Chatham, was charged later the same day with trespassing on premises with the intention of committing a sexual offence and sexually touching a woman without consent.
The 71-year-old appeared before Medway Magistrates’ Court on Monday 22 March, where he was remanded to a hearing at Maidstone Crown Court on 19 April.