Rob Lowe

's former nanny has filed a lawsuit against the actor, claiming he repeatedly exposed and touched himself in front of her. Jessica Gibson, 24,  who worked for Rob and his wife on and off for seven years, also claims that the Brothers & Sister's star touched her inappropriately, and that Sheryl Lowe would prance around the house naked, make vulgar comments, and would discuss her sex life with Rob to the nanny.

The lawsuit, which was filed Monday in a Santa Barbara court, alleges that Rob, "placed his hand inside Gibson's pants" several times from about Sept. 2005 to around Jan. 2008, and that he allegedly grabbed her butt without her consent.

Jessica was on the Today show this morning, telling her side of the story, and Rob's lawyer was on hand to read a statement on his client's behalf:

"Ms. Gibson's older sister worked for the Lowes for 7 years. Ms. Gibson worked for the Lowes on and off for 7 years. She left at least 2 times, to pursue other jobs, and returned each time asking for more hours. She sent 2 emails the day after she left, both saying she loved the Lowes and her leaving had nothing to do with them but her heart wasn't into being a nanny anymore. This is totally inconsistent with her latest allegations. An investigation of dozens of present and former employees has failed to find one single person to verify her allegations. The allegations in the complain are simply untrue."

The nanny's lawyer, Gloria Allred, replied, "We don't think so." 

So, if it was so bad at the Lowe residence, why did Jessica keep coming back? "I love the children," Jessica said. "I needed the job. I thought it would get better, and I was scared." 

Rob knew this was coming and wrote a warning to his former employee, in The Huffington Post, telling her not to mess with his family. I guess she didn't listen.