Jesse J. Wiles, 24, of the 300 block of High Street in Burlington, was arrested on Thursday after being detained by NJ Transit police officers in Camden.
Investigators say Wiles picked up a woman along Route 130 back on July 29, 2010 and took her to a local motel.
Once there, police say, Wiles sexually assaulted her while in possession of a handgun.
Wiles was charged with aggravated sexual assault, kidnapping, robbery, and for being a felon in possession of a weapon.
He was sent to the Burlington County Jail on $200,000 full cash bail.