"She, I, she put her foot up here like this, spun, flopped down on the bed, and pulled me on top of her, and she was kissing me, and then she rolled over on top of me. We finished removing my clothes, removed her clothes, and things happened."
Dora Abrahamson declined an interview request from ABC News.
A few days after the sexual encounter, Burroughs said, Abrahamson called and said she was stepping down from his audit due to a conflict of interest. His new IRS agent said he owed around $69,000.
Burroughs was not happy. "Somebody has to be accountable for what the IRS does, because they are unaccountable. They run with no leash on," he said.
"Sexual coercion and abuse of power -- there's nothing funny about it, you know?" he added.
"I am suing Dora Abrahamson and the United States of America for sexual coercion and the violation of privacy act," Burroughs said.
In court papers, Abrahamson denied Burroughs' allegations.
"She told me that this case has been hurtful to her," said Moule, who spoke to her briefly. "That the media attention-- she felt that her name was being smeared. ... In some ways, she was sympathetic. She was crying."
In fact, he's considering dropping Abrahamson from the suit, Moule said. So if Burroughs wins, taxpayers would foot the bill.
Asked how taxpayers should feel about this suit, Moule said: "I imagine the taxpayers aren't going to be happy about paying any settlement, if they had a say."
Moule added, "Justice would be served if the government wrote out a check for $100,000."
As for Burroughs, what would he say to those who question why he wants the government to pay him for getting unsolicited sex?
"I guess they'd have to be in my shoes."
Watch the full story on "20/20: Moochers?" TONIGHT at 10 ET.