Roger Eric Olsen, 56 and now living in Queensland, appeared via phone in the ACT Magistrates Court on Wednesday when he pleaded guilty to one count of committing an act of indecency on a person under 16 years.

Police documents tendered to the court state that the offending happened in the 1990s when Olsen was still living in the ACT.

The victim was sleeping one night when he rubbed her clothes on her vagina.

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When he realised she had woken up, he stopped but stayed there for a while longer before leaving.

It was dark but there was enough light for the victim to see it was the defendant before she turned to face away.

In mid 2018, the now adult victim went to police about the offending.

About one year later, Queensland Police contacted the defendant about the allegation in which he refused to participate in a recorded interview.

Two other people whom the victim told about the offending also provided statements to police.

On Wednesday, Magistrate Glenn Theakston ordered a pre-sentence report and will sentence Olsen on August 20.

The defendant, who was arrested in March this year and remains in custody after not applying for bail in his first court appearance, was set for a hearing in early August after pleading not guilty.

Olsen was extradited from Queensland to the territory with ACT Policing previously saying in a statement that investigators had issued Olsen with a summons to face court in respect of the charge but he had not appeared.

Detectives from the force's Sexual Assault and Child Abuse Team then went to Queensland to have him arrested and extradited

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