Sean Maas, 39, of the unit block of Chestnut Street in Wilmington, was arrested on Thursday afternoon.
Police say that's when they were called to a home on North Pheasants Drive for a reported burglary.
Once there, one of the female victims told police she was coming up from the basement when she saw Maas, an acquaintance, in the house.
Police say she told him to leave and watched him take off in his silver Mercedes.
The victims then discovered several items missing from the home, including prescription medication, jewelry, and several pairs of underwear.
Police say they executed a search warrant at Maas' home and recovered the victims' property.
Maas is charged with burglary in the second degree and theft. He was arraigned and ordered to be held after failing to post $7,000 cash bail.
Maas was arrested back in early November on similar charges. In that incident, police say Maas was found crouching outside the window of a University of Delaware student.
Officers allegedly saw him walking down the street with women's underwear hanging out of his pants. When police told him to stop, he allegedly resisted and police had to use a Taser on him.
Maas is a chiropractor in the Wilmington area.