Police say a 13-year-old girl awoke one night last spring to find Maria Garcia Delao, 27, fondling her.
The girl was a relative of Delao's boyfriend and was spending a night last May in her apartment when the alleged attack occurred.
The girl told her mother about the incident in October, court documents say, and the Harris County District Attorney's office filed charges Friday.
Delao, who currently lives in Conroe, has been charged with aggravated sexual assault of a child under 14 years of age. She has been released on bond.
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