(CNN)Bill Cosby has been charged with sexual assault in relation to a 2004 accusation in Montgomery County, Pennsylvania. Cosby, whose legacy as a comedian has been besmirched by multiple accusations of sexual assault, faces one felony charge of aggravated indecent assault. This is the first criminal charge levied against Cosby since the allegations first arose. Cosby has steadfastly denied any wrongdoing. After looking at all the evidence in the 2004 allegations, prosecutors decided to charge Cosby "because it was the right thing to do," Montgomery County prosecutor Kevin Steele said. CNN has reached out to Cosby's lawyers for comment. The district attorney did not name the victim, but the accusations he announced parallel the allegations made by former Temple University employee Andrea Constand. She has said Cosby drugged and fondled her in January 2004. She was the first person to publicly allege sexual assault by Cosby. Prosecutors declined to file charges at that time, citing insufficient evidence.