Robert Heath has been charged with indecent assault and battery on a person 14 or older.
Police say the 59-year-old Heath put his hands down a 23-year-old man’s pants last month and tried to kiss him.
Authorities say Heath later apologized to the man in a text.
The Associated Press typically doesn’t identify people who say they’re victims of sexual assault.
Heath received a new three-year contract with the Kingston Fire Department on Feb. 7. He retired less than two weeks later.
Heath didn’t immediately return a call seeking comment.