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Police have charged a 21-year-old man with several offences after the sexual assault of a 36-year-old mother of two in her Beeliar home while her young children slept last week.

Sex assault squad officers charged the man after an investigation into the offences committed against the woman last Tuesday.

The woman, whose husband was away for work, was asleep when the man allegedly entered her bedroom after forcing open a window on the top floor of her two-storey home about 11pm.

The man allegedly sexually assaulted the woman and later forced her to drive him in her car to an ATM to withdraw money.

He allegedly threatened the woman.

Police say the intruder knew the children were in the house when he attacked the woman.

The man, of no fixed address, has been charged with six counts of aggravated sexual penetration without consent, sexual coercion, indecent assault, assault, attempted aggravated sexual penetration without consent, threats to kill, aggravated burglary, robbery and deprivation of liberty.

He is due to appear in the Fremantle Magistrate's Court this morning.