MIDDLETON, Wis. -- Middleton police said Wednesday that two men have been arrested and charged with first-degree sexual assault and kidnapping.

Middleton police said Andrew James Meinholz, 20, of Middleton, and Aaron Thomas Gilbert, 21, of Madison, met an 18-year-old Middleton woman, an ex-girlfriend, at Quarry Skate Park in Middleton on July 17 to return a phone.

Capt. Noel Kakuske said the men forced the woman into a car, threatened her at knifepoint, sexually assaulted her and made her wash a car in her underwear.

Police said the suspects then took her to Milwaukee, where they attempted to get people to pay money to have sex with her.

The criminal complaint said that at one point in the kidnapping, the victim was able to call her mother and tell her mother she was in Milwaukee and wanted to come home but Meinholz hung up the phone.

The complaint goes on to say that the victim's mother made contact with Milwaukee police, and they contacted the victim via phone, but Meinholz made the victim tell police that she was fine and did not need assistance.

Police said a group of people in Milwaukee receiving a solicitation for sex with the victim intervened, allowing the woman to escape.

"Fortunately, people intervened in Milwaukee and they recognized that this woman was under a great deal of stress and came back and helped her get away," Kakuske said.

Those residents let the victim use a phone to call her mother, and a family member transported the victim to a Madison hospital, at which time the police were notified on July 19.

Police said Gilbert was arrested on July 21 by Middleton police. Meinholz was arrested on July 24 by Madison police.

The two men appeared in Dane County Circuit Court Wednesday on the kidnapping and sexual assault charges. Bail was set at the hearing. The men cannot leave Dane County without the court's permission and cannot contact each other.

The next court date for both men is set for Aug. 5. If convicted, the men could face at least 60 years in prison on the charges.