Agyemang has been charged with annoying and accosting, which is a misdemeanor and doesn't require jail time.
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"He went to the passenger side and banged on her window aggressively," said Warpula.
He told authorities he was just looking for a girlfriend.
"He said, 'How am I supposed to get a girlfriend if all of you have boyfriends?' That was alarming," said Millbury Police Detective Andrea Warpula.
Agyemang used to drive for Uber before being fired, but officials say he's still picking up passengers. Last month, officials sent out a warning to women in the Worcester, Shrewsbury and Natick areas, saying that Agyemang would wait outside bars as they were closing to pick up female passengers.
On Monday night, Agyemang was arrested on charges of trespassing, annoying and accosting.
He was arraigned on Worcester District Court on Tuesday and has been held on bail, a Millbury detective told WFXT.