Richard O. Hamilton, 30, of Lake in the Hills.

A Lake in the Hills man has been charged after he allegedly exposed himself and committed a lewd act on himself during a yoga session in front of a female instructor in Cary.

Richard O. Hamilton, 30, of Lake in the Hills, was charged with one count of disorderly conduct, a misdemeanor.

A criminal complaint filed in McHenry County Circuit Court said Hamilton attended a private yoga session around 8:30 p.m. on February 9.

The yoga session was held at a female yoga instructor’s home in Cary.

Hamilton pulled down his pants, exposing his genitals after the yoga session, the complaint said.

Hamilton then began to masturbate in front of the woman, causing her to be alarmed and disturbed, the complaint said.

The woman notified the Cary Police Department and Hamilton left the home.

An arrest warrant was issued for Hamilton on Tuesday, court records show.

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Police records show Hamilton was processed at the Cary Police Department on the warrant the same day.

He posted the $100 cash bond and was released from the police station.

A plea hearing is scheduled for March 6.