A North Liberty man has been accused of assault with intent to commit sexual abuse and indecent exposure after receiving a car ride home from a woman.

According to a complaint from the Johnson County Sheriff’s Office, Peter Vanbeek, 49, 81 Holiday Lodge Road, allegedly committed an assault with intent to commit sexual abuse. Vanbeek received a car ride home from the woman, and upon arriving at his residence, Vanbeek allegedly grabbed the woman’s hand and placed it on his penis, which was out of his pants, the complaint said.

Vanbeek reportedly admitted that he thought something sexual would happen between the two of them and said it was an impulsive move on his part, the complaint said.

The woman told Vanbeek to get out of the car, and she drove away, the complaint said.

Vanbeek was charged with indecent exposure and assault with intent to commit sexual abuse.

Indecent exposure is a serious misdemeanor and assault with intent to commit sexual abuse is an aggravated misdemeanor.