It was the first time Constand, 44, has testified publicly.
"I don't really remember how dim the lights were, but I did have to eat my dinner", Ms Constand said.
Agrusa noted that Constand and Cosby exchanged numerous gifts, and that the comedian gave her cashmere sweaters, perfume and a $225 hair dryer.
The defence, however, tried to poke holes in Ms Johnson's story, asking why she had previously said under oath that the assault occurred in 1991, not 1996.
The defence has argued the two had a romantic relationship, that Ms Constand was not incapacitated, and that the sexual encounter was consensual. She asked if they were herbal or natural; he assured her the pills were "her friends". "They're your friends; they'll take the edge off", she said.
Cosby, sitting across the room at the defense table, leaned in to listen, whispered to his lawyer and, at times, shook his head.
"No, ma'am, those calls were because Warren Chambers had asked me to deliver salt products to Mr. Cosby and his wife", Constand explained.
According to her testimony, Constand said she first met Cosby at a basketball game in the fall of 2002, when she was the director of basketball operations at Temple University. He said Johnson made the disclosure while pursuing a claim that she had developed debilitating stress from her secretarial job at the William Morris Agency.
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But his own proposed budget would cut other job training programs that advocates say are necessary for this one to thrive. He said they were joined by governors from around the country who had just spoken about apprenticeship programs.
When Constand was "jolted awake", she said on the stand on Tuesday, Cosby was assaulting her.
At one point Constand was asked why she continued to have contact with Cosby after he made sexual advances toward her on occasions that occurred prior to the alleged assault, including attempting to unzip her trousers during one visit to his home. Her testimony was cut off part of the way through cross-examination today and will pick up again Wednesday morning. "He is 10 years older than even her own father", the mother testified, breaking down on the stand. Only in Constand's case has Cosby been charged.
During the interview, Constand, according to Mason, recalled "something foreign" in her body during the sexual assault.
"So you knew - you were alone at his home - that Mr. Cosby was interested in you romantically?" He faces three felony charges of aggravated indecent assault. "He said put them down".
She told the court she felt "really humiliated" after the alleged attack.
Earlier, the mother of another woman who has accused Cosby of sexual assault said that her daughter was so shaken by her interaction with him that she could no longer form meaningful social bonds.
She said she didn't have the courage to tell her family what happened, but that it was a burden. He also placed her hands on his genitals.
Ms Constand's words on the stand will be highly scrutinised, as they may be the only testimony that could land Mr Cosby behind bars. And it was just me. "And I felt him take my hand and place it on his penis and move it back and forth", she said. "The defense also has phone records that show Constand placing more than 50 calls to Cosby in the months after the alleged incident", the Washington Post reports. Cosby lawyer Angela Agrusa also pressed Constand on why she stayed in contact with Cosby afterward. But there she was, making an appearance unexpected by all, perhaps especially by Montgomery County Court Judge Steven T. O'Neill, who would chastise prosecution lawyers at day's end for not giving him forewarning.
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