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The lawsuit was filed just before New York's Adult Survivors Act was set to expire.
The law specific to the state allows adults who say they were victims of sexual abuse to file a civil lawsuit and seek damages regardless of the statute of limitations.
The suit is dated Monday, but the New York State Courts e-filing system indicates that the complaint was received Wednesday.
A woman, who is only identified as Jane Doe, alleged in the suit that the incident occurred on August 26, 2015, while she and her friend were at a rooftop bar in Manhattan called Catch NYC & Roof.
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After she asked for a photo, Foxx responded with "Sure baby, anything for you," per the suit. He then proceeded to grope her until her friend came looking for her, according to the lawsuit.
The woman said she suffered extreme emotional distress as a result of Foxx's actions and was "rendered sick, sore, lame and disabled," which required her to seek medical care, the lawsuit said.
At the time the woman says the incident occurred, Foxx was in a relationship with Katie Holmes, according to outlets that reported the pair had broken up in 2019.
This year, Foxx spent time in the hospital due to a "medical complication" that arose while he was filming "Back in Action" in April, his daughter said.
Since then, Foxx's friends and family have alluded to his hospital stay, but all parties have been extremely quiet about the details. In July, Foxx said his emergency took him to "hell and back," but did not say what had happened.
Representatives for Foxx, Catch, and the attorney for the woman who filed the complaint did not immediately return Business Insider's request for comment.