Avoid Molesting

My brother served a Spanish-speaking religious mission in San Diego, then moved to Utah. Shortly afterward he was working late one night, and his female manager offered him a ride home since he didn't have a car. He said, "Are you sure? I don't want to molest you." He was mortified and explained about the use of "molestar" as soon as he realized the mistake, but they were very uncomfortable around each other for a few days.