Matthew Kealey, 47, was arrested on Saturday, March 30, on a warrant for the event that took place on March 9, said the Milford Police.
Milford Police Officer Joe Dempsey said the charge stems from an incident at the Milford Public Library, where Kealey is accused of urinating in full view of library patrons after being asked to leave.
Kealey was released on a promise to appear and is scheduled to appear in court on April 23.
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