Daniel Frost, aged 32, appeared at the hearing at Doncaster Magistrates Court this morning.
Mr Frost, of Glebe Road, Thorne was charged with rape and robbery by police late last night before his preliminary hearing today.
Wearing a baggy grey jumper and light blue jeans, Mr Frost only spoke to confirm his name, address and date of birth.
He is accused of raping a woman, who cannot be named for legal reasons, inside a property in Woodlands, Doncaster.
He is also accused of stealing a laptop, an Iphone 6, jewellery, an XBOX games console, £40 in cash and a perfume/aftershave gift set.
David Shepherd, for the prosecution, said that Mr Frost was arrested on Wednesday, March 2 following the reported incident on the morning of February 24.
Representing Mr Frost, Andrew Bostock said that the defendant indicated he would plead not guilty to the charges he faces.
District Judge Hoolden adjourned the case to Sheffield Crown Court and said that more evidence would be gathered in the mean time.
Mr Frost was remanded in custody and will next appear at Sheffield Crown Court on Monday, April 4.
Two other men, aged 32 and 18, who reportedly accompanied Mr Frost were arrested on suspicion of aggravated burglary,
Both have been released on bail pending further enquiries.