Muhammad Sukri Ramli was accused of committing the offence against Tran Thi Thu Thuan, 43, in his Proton Saga car on a trip to Argyll Road at 3.56pm on June 6.
Sukri pleaded not guilty to the charge of assault or use of criminal force against a person with the intent to outrage modesty under the Penal Code.
Magistrate Catherine Nicholas presided over the case.
Deputy public prosecutor Nurul Izzah Shahruddin proposed a RM10,000 bail and an order requiring Sukri to stay away from Tran and her home.
Sukri, who was not represented, asked for a lower bail as he is the sole breadwinner taking care of his wife and child.
He told the court that his finances are being restructured through the federal Credit Counselling and Debt Management Agency (AKPK).
Catherine then set bail at RM6,000 in one surety and ordered Sukri to report to the Sungai Nibong police station every Monday until the trial is over.
Sukri was also told to get a lawyer before the next mention on July 18.