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The Good Samaritan was spotted lifting up the wheelchair for the pensioners – who reportedly did not remark on his lack of attire.
A video of the incident, where he dances and follows a dog as well, has gone viral online.
But police have intervened after they discovered the 32-year-old streaker was identified.
He is accused of ‘outraging the public decency’ on a busy street, Gaywood Road in King’s Lynn.
The police tweeted: ‘Male arrested yesterday has been charged with an act outraging public decency and bailed to court on 24/4.’
He will appear in court on April 24.