Bill Cosby Bill Cosby

After being accused of sexually assaulting dozens of women over several decades, Bill Cosby was criminally charged for the first time on Wednesday.

In a criminal complaint filed in Montgomery County, Pa. (and available to read in full here), prosecutors lay out in chilling detail how Cosby allegedly drugged and assaulted Andrea Constand in 2004.

Constand met Cosby through his alma mater Temple University, where she was working at the time. The two developed "what the victim believed to be a sincere friendship," according to the complaint. Constand reportedly thought of Cosby, 37 years her senior, as a mentor who "provided her with guidance and career advice."

The complaint states that Constand turned down sexual advances from Cosby twice prior to the assault. But since Constand trusted Cosby, she continued their relationship and felt comfortable going to his house alone.

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In early 2004, Constand went to Cosby's home where she admitted to the comedian that she felt "drained" and "emotionally occupied." Cosby then urged her to take three pills and insisted she drink wine to relax. After twenty to thirty minutes, Constand says she began experiencing blurred vision and difficulty speaking. That is when Cosby sexually assaulted Constand while she remained "frozen" and "paralyzed," according to the complaint.

Soon after, Constand moved in with her parents and her mother noticed changes in her daughter's demeanor. After admitting what happened, the family reported the assault to Canadian authorities and Mrs. Constand decided to confront Cosby. During the two-and-a-half hour phone call with Mrs. Constand, Cosby allegedly admitted to fondling Constand's breasts, digitally penetrating her vagina and placing her hand on his penis. Cosby also apologized and offered to pay for Constand's therapy, prosecutors say.

Pennsylvania authorities investigated the incident, but declined to press criminal charges in February 2005. The following month, Constand filed a civil suit against Cosby, which was settled in 2006. After more than 50 women have since come forward with similar stories of abuse at Cosby's hand, prosecutors recently reopened Constand's case.

Cosby's lead attorney Monique Pressley insisted on Cosby's innocence while appearing on Thursday's Today. "He's been accused unjustly of a crime so certainly that's upsetting, but he's in good spirits and he knows that he has a legal team that is intent on defending him until he is exonerated," Pressley said, adding that Cosby will not consider any plea agreement.