A hidden camera shows married Steve Gill walking into Sharon Bulman's bedroom, where he rifles through her lingerie after drawing the curtain.
Steve Hill was handed a suspended jail sentence after he performed a sex act in his neighbour's bedroomHe then produces a pop sock, and in an unedited version, performs a sex act while watching a secretly recorded video of his victim.
The 49-year-old admitted burglary and stalking and was given a suspended jail term at Teesside Crown Court, as well as a restraining order to stay away from Mrs Bulman.
Sharon and her husband James, a firefighter, had considered themselves good friends with Gill and his wife, who lived near them in Skelton, North Yorks.
The HGV driver offered to do odd jobs and to look after the couple's daughter – and was even given a key to help keep an eye on their house while they were on holiday.
Speaking after the hearing, Sharon told how she became suspicious after one day finding Gill running down the stairs in her home as she put on her running gear.
On another occasion her husband James saw a "sheepish" Steve emerging from their back gate with a can of WD40 – making up a spurious reason that Sharon had been complaining about the back door squeaking.
"I'd said no such thing and we became convinced something was going on but I didn't know what, although I suspected he might be looking in my underwear drawer," she told the Northern Echo.
She became even more suspicious after Steve's texts asking her when she'd be getting home – and finally installed a spycam in an owl cushion to catch the creep.
Gill admitting burglary and stalking, but dodged prison because of the impact it would have on his family.
In a statement, Sharon said the ordeal has left her feeling "disgusted, filthy and disappointed" and said: "I thought he was a friend and could be trusted, but he has proved me wrong."
"I no longer want to be in my bedroom and have trouble sleeping. I feel like throwing my underwear out in case anything else has happened."
Describing the offences of burglary and stalking as “highly unusual examples”, Judge Peter Armstrong told Gill: “It was quite extraordinary behaviour for a man of 49 with no previous convictions.
Suspecting things only happened when you were there, your neighbours carried out some detective work and eventually a camera caught you doing, what has been rightly described, as quite outrageous behaviour."
Gill was given a 12-month jail sentence, suspended for two years.
He was also ordered to go on a sex offenders' treatment programme, do 150 hours of unpaid work, pay £200 costs and £500 compensation to Sharon.
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