FRANKLIN, Wis. (CBS 58) — A Franklin man accused of kidnapping a woman at gunpoint and threatening to rape her after she rejected him has pleaded guilty.

Twenty-two-year-old Angelo Liberto pleaded guilty to two felony charges in court Wednesday morning, while a third charge was dismissed as part of the plea agreement.

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“What is your plea then to count one, attempted second-degree sexual assault while armed with a dangerous weapon? Guilty or not guilty?” Milwaukee County Judge Michelle Havas asked.

“Guilty,” Liberto said.

“Count two, kidnapping, carries forcibly while armed with a dangerous weapon. Guilty or not guilty?” Havas asked.

“Guilty,” Liberto said.

A third charge of false imprisonment was dropped as part of the deal.

“What happened here, this guy may do this to other girls too,” investigators were heard saying on body camera video after they pulled over Liberto’s car in May in Washington County.

According to court records, Liberto had shown up unannounced at the woman's home in May and told her he was taking her to a bar. Investigators say he then allegedly took her phone and pulled a gun and knife on her.

“Knife’s in the center. Gun, I think, is in the back,” investigators are heard saying in the body camera video.

Investigators say he then forced her to handcuff herself to the car door. Liberto allegedly told her he was going to drive four hours away and rape her. The woman managed to take her phone, secretly call 911 and her mother.

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Investigators were able to track the car and free the woman before handing Liberto over to Milwaukee police.

Liberto is scheduled to be sentenced in January.