MILFORD - A 41-year-old Milford man has been arrested for allegedly making “inappropriate sexual contact’ with a woman while she was asleep in her bed.

Mark Wade, of Hawley Avenue, was charged with fourth-degree sexual assault, second-degree unlawful restraint and disorderly contact.

Wade is also accused of “restraining the female with his arms and legs,” police said.

On Wednersday, police took custody of Wade on an active arrest warrant. He was later released on a promise to appear in court on Aug. 13.