SCOTTSDALE, Ariz. -- Scottsdale police found a man wanted in connection with a sexual assault on Sunday afternoon hiding under a vehicle at an auto collision center.

Mark Zeigler, 47, of Pine, was booked on charges of kidnap, sexual assault, burglary and aggravated assault.

Police said Zeigler had been friends with the victim prior to the attack.

Officers said Zeigler entered the woman's home at about 1:30 p.m. and threatened her with a knife. He then began sexually assaulting her, investigators said.

Another person arriving at the home scared Zeigler off, police said. Zeigler ran out the rear door and left the area in his vehicle, a gray Chevy pickup, officers said.

A short time later, the vehicle was found parked in the area of 2800 N. Scottsdale Road.

An alert witness told officers that he saw someone run from the area of the vehicle and jump a fence into a business at 3005 N. 71st St.

Police searched the area and found Zeigler hiding underneath a vehicle on the property. He was into custody without incident.