A GRACEMERE woman woke to find a naked man in her bed tugging at her underwear, a Rockhampton court heard yesterday.
Crown prosecutor Clare Kelsey told the Rockhampton District Court the woman said the man, who she first thought was her partner, started to penetrate her before she gave him a kick and he fell off the bed.
The man quickly fled from the bedroom of the Gracemere house about 1pm on September 26, 2010.
The 50-year-old accused has pleaded not guilty to a charge of rape in relation to the incident, but guilty to a charge of sexual assault.
Neither party can be named to protect the identity of the victim who is known to the man.
In her opening address to the jury, Ms Kelsey said the woman told her partner she had been raped when he came home later that day.
The alleged offender was staying with the woman and her partner.
Police were called to the home after the partner and the accused became involved in an altercation.
Ms Kelsey said the accused gave his version to police and admitted he crawled into the bed but she had "cracked a big mental".
Ms Kelsey said he stated his intention was to muck around and give her a kiss and a cuddle but he had no intention of "screwing her".
Ms Kelsey said he admitted he did have an erection, but did not try to have sex with her, and he denied pulling her underwear aside.
He also admitted he was feeling her up on the outside of her clothing, the prosecutor said.
Ms Kelsey said the woman went to hospital the same day and was examined by a forensic nurse and tested with a sexual assault kit.
She said the DNA found from those swabs suggested the man did more than sexually assault the woman; that he had raped her.
The trial, before Judge Grant Britton, continues today.