48-year-old Brian Bates allegedly broke into an apartment in Piermont last week after removing a screen on a window.
Bates was seen walking in the residence while he was naked, authorities said.
When police arrived, they found him hiding in a bedroom closet belonging to the home's children.
Bates was remanded to the Rockland County Jail and indicted on a burglary charge. He faces up to 15 years in prison if convicted.
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