He pleaded not guilty, and his lawyer, Glenn Morak, says he will fight the charges vigorously.
Rosario is suspended from duty at the 26th Precinct in Harlem.
Prosecutors say Rosario raped a woman in her apartment in 2003 and then stalked her in 2008.
He was previously indicted twice on sexual abuse charges involving three different women.
Prosecutors say all of the women had asked about after-school programs for their children.
Rosario is being held on $150,000 bail.
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