The 21-year-old woman had entered the ride sharing vehicle with a man at Kingsford about 12.50am on Sunday.
After the man was dropped off at an address, the woman stayed in the vehicle to be dropped off at her address in Hillsdale.
Police alleged that during the trip to her home, a male driver allegedly made inappropriate comments to the woman and when they arrived at her apartment complex, the driver allegedly reached over and indecently assaulted the woman.
Police alleged that when the woman got out of the car and entered the building, the man followed her inside and assaulted her again before she was able to escape.
A 27-year-old man was arrested at a home in North Sydney on Monday, before being taken to Chatswood Police Station and charged with two counts of committing act of indecency and two counts of common assault.
He was granted conditional bail to appear at Manly Local Court on May 31.