Detectives with the Buchanan County Sheriff's Department said the home invasion happened around 2:30 a.m. on Dec. 18 at a home south of St. Joseph off Highway 371.
They would not share the exact address of the home because they didn't want to identify the victims, but they did say a couple and their adult daughter were home at the time.
The young woman told authorities a man sexually assaulted her while her parents were sleeping. The man then took several items from the home, including a debit card.
That card, authorities say, was later used to pay for gas at a convenience store in Percival, Iowa.
The sheriff's department released photos of the man they want to question in the case. He is described as 5'2 to 5'6 in his late 30s or 40s and was seen in the photo wearing a blue and red ball cap with distinctive black-rimmed glasses.
Detective Mike Wilkerson hopes the photo will help them track down the man and learn more about what happened that night. The debit card has not been used since the picture was taken.
Authorities did say the man was driving a light-colored vehicle and they believe others might have been involved.
The sheriff's department is asking anyone with information in this case to call the Buchanan County Sheriff's Department.