GLOUCESTER CO., Va. (WVEC) -- Deputies have arrested a wanted man connected to an abduction and rape investigation over the weekend.

Authorities arrested 57-year-old Robert "Bobby" Stokes at 1 a.m. on Sunday.

The Gloucester County Sheriff's Office received a complaint from a woman reporting a sexual assault that took place Thursday.

Stokes is listed as a violent sex offender on the Virginia State Police Sex Offender Registry and has outstanding warrant for that sexual assault.

PHOTOS: Hampton Roads Mug Shot Gallery, June 2016