Police were called to William Rodriguez's home in Bethlehem on Monday after he began arguing with a woman.
Police say the woman told them Rodriguez came home intoxicated.
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They say a search of his home found an empty gun holster and a loaded pistol between a mattress and the wall of a bedroom where the three children slept.
Police say officers saw two of the children jumping on the mattress just a few feet away from the gun.
Rodriguez is charged with endangering the welfare of children, reckless endangerment and harassment.
It's not known if he has a lawyer who can respond to the charges.