Mayor Eric Adams asked a colleague for oral sex in exchange for career help in 1993 and sexually assaulted her when she refused, she said in a legal complaint filed on Monday.

The detailed complaint, which is part of a lawsuit that was originally filed in November in Manhattan under the Adult Survivors Act, said that the woman, who worked with Mr. Adams at New York City’s transit police bureau, asked him for help after she had been passed over for a promotion.

Mr. Adams, who was a police officer, drove the woman, an administrative aide with the department, to a vacant lot and requested oral sex, according to the 26-page complaint. When she declined, he forced her to touch his penis and ejaculated on her leg, the complaint says.

“The effects of that sexual assault, betrayal and astonishing abuse of power, continue to haunt plaintiff to this day,” the complaint said.

Mr. Adams, a Democrat, has repeatedly denied assaulting the woman. The mayor’s office did not immediately respond to a request for comment on Monday.

Addressing the allegations at a community meeting in December, he dismissed them, saying: “That is not who I am.”