Vincent Cary, 35, of St. Joseph and Keith Williams, 48, from the St. Louis area were arrested early Tuesday morning after the incident near 17th and Jules.
Police said Williams was behind the wheel when the two pulled up and tried to get Debra Fletcher to get in the car with them. It happened around 2:30 in the morning near her home.
Fletcher said she had gone outside to find her car keys.
"I didn't want to scream because I was really nervous. I didn't know if they had guns or weapons or anything, so I was like waving my arm at my mom. And, I got her attention and she, she knew something was wrong," Fletcher told KQ2.
Fletcher's father and husband came outside and the men left. Police were able to find them a short time later.
According to court documents, Cary grabbed the woman's arm and rubbed his body on her body, refusing to let her go. He allegedly bit her ear and touched her inappropriately.
Williams also got out of the car, according to the probable cause statement, and joined Cary as he approached the woman from behind.
Cary is charged with misdemeanor sexual abuse. He was denied bail because he is considered a danger to the community and the victim.
Williams is with misdemeanor assault and DWI.