A Suffolk County judge was on the other side of the bench Friday after being accused of breaking into a woman’s home and stealing her underwear.

Prosecutors say Suffolk County District County Judge Robert Cicale admitted to having the urge to steal women's underwear.

They say he also admitted that he went to the home on prior days to steal “women’s panties” out of the hamper. 

Police say Cicale, who lives on Donna Place in East Islip, went into his neighbor’s home while a 23-year-old female was inside the house.

“Essentially, the victim was home alone and she heard someone in the residence,” said Suffolk District Attorney Tim Sini.

He says Cicale went into her bedroom, then heard the female call out, “Hello?”

Sini says that’s when he fled the home. The female victim then called her mother, who then called 911 from a work phone.

The victim was an intern of Cicale's when he was Islip's town attorney, according to prosecutors.

Prosecutors say Cicale was found around the block pretending to knock on a door, but then admitted to police he went into the home and had underwear in his jacket pocket.

Prosecutors say the Suffolk judge confessed and also wrote an apology letter to the victims. He pleaded not guilty in court and was released on $50,000 bond.

A Nassau judge issued three orders of protection. Cicale must stay at least 100 feet away from the victim’s home and also has to wear a GPS tracking device.