Kristopher Fitzhenry, 28, of Crystal has been charged with indecent exposure and disorderly conduct.
According to the criminal complaint, Fitzhenry met a woman at a bar earlier in the day and went home with her. While she was driving them to her home, Fitzhenry took off all his clothes and left them in the passenger seat.
Later, police said the two were seen drunk outside her home on the 4500 block of Dupont Avenue North. Fitzhenry was walking around outside naked, while the woman wore a bra and shorts.
Police said there were children around when this happened.
If convicted, Fitzhenry could face up to 90 days in jail and pay a $1,000 fine.