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UPPER MARLBORO, Md. (WUSA9) -- Police have arrested a Maryland man in connection to a second degree rape incident which happened in December last year.

Kenneth Richards was arrested on May 16. Richards allegedly attempted to "digitally penetrate and fondle a minor female victim" several times in December 2013, police said. According to the arrest warrant, "Richards allegedly engaged in intercourse with the minor female victim once in January of 2014 and again in February 2014," police said.

Richards was found at the intersection of 19th and H Street NE, Washington and was arrested without incident. He has been charged with "2nd Degree Assault, 2nd Degree Rape, 2nd Degree Attempt Sex Offense, 3rd Degree Sex Offense, and 4th Degree Sex Offense– Sexual Contact," police said.

For more information on this incident, call Police at 301-780-7354.

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