Police arrested a man they said groped a woman inside her Manhattan apartment last week.

Cops said 35-year-old Jeffrey Joseph went into a building near Hudson Street and West 10th Street in the West Village last Thursday morning.

They said he went to the back of the building, climbed a fire escape and went into a second floor apartment.

That's when he allegedly groped a 43-year-old woman while she was sleeping before running off.

Joseph has been charged with burglary and sex abuse.