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A 23-year-old Milton man, already in custody for attacking a woman at her Hyde Park home was charged Thursday for a home invasion in Milton, authorities said.

Cesar Lara Aguasvivas, 23, of Milton, is the second man arrested for a home invasion that took place Monday on Blue Hill Avenue.

Aguasvivas and a second man, Odalis Pascual German-Perez, 21 of Mattapan, allegedly tied up a husband and wife in their home, stole some of their belongings, and then escorted the husband to a bank where he was forced to withdraw a large amount of money.


German-Perez was arrested Monday night, police said.

On Thursday, Milton police obtained an arrest warrant for Aguasvivas at Quincy District Court. He was charged with home invasion, armed assault, assault in a dwelling, assault and battery, and two counts of kidnapping, Milton police said in a press release.

Aguasvivas already was being held at the Nashua Street jail, having been arrested in Boston on Monday in connection for a home invasion last month in Hyde Park.

In that case, prosecutors allege Aguasvivas was one of four armed men who ransacked a woman’s Beaver Street home while holding her at gunpoint in the early morning of July 6.

Milton police that their investigation in ongoing.

“A tremendous amount of work remains ahead for the investigators they continue with the investigation,” police said. “Clearly, one area of focus will be determining if there are any unidentified co-conspirators involved in this crime.”

Danny McDonald of the Globe Staff contributed to this story. Adam Sennott can be reached at adam.sennott@globe.com