A Millsboro man has been arrested for a sexual assault of a 9 year old girl. The girl’s mother called police saying that her husband’s friend, 32 year old Brandon Brennan had touched her daughter inappropriately. Troopers learned that Brennan had been sleeping at the home and entered the child’s bedroom around 5am and touched her in an inappropriate manner. Brennan was found sleeping in his vehicle in the driveway and arrested. He’s charged with 3 counts of unlawful sexual contact with a person under 13.