The break-in occurred just before 4:30 a.m. Wednesday at Mayor Eric Adams' residence.
Authorities say 20-year-old Michael Aromando climbed a perimeter fence and was able to access a second-floor bedroom, where Adams' security detail found him.
Adams was not home at the time and not in danger, police said.
Aromando lives just blocks away from Gracie Mansion on the Upper East Side. He showed investigators cellphone video of himself removing a Christmas ornament from a drawer in the house, according to the criminal complaint.
Several items from Gracie Mansion were recovered in Aromando's possession.
Aromando was charged with burglary and illegal entry. Bail was set at $5,000 during his arraignment Thursday morning.
A judge also gave Aromando an 11 p.m. curfew and he is not allowed to go within one block of Gracie Mansion.
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