Police were called to Currong Crescent after reports a Hyundai SUV was stolen about 7am on Monday.

Police were told that the 21-year-old learner driver assaulted the 37-year-old woman who owns the car while she was sitting in the passenger seat.

After allegedly being assaulted with the samurai sword, police said the woman fell from the moving car.

She was not seriously injured.

Police found the car on the other side of town on Lawson Crescent a short time later.

On Tuesday, the 21-year-old was arrested at a home on Algona Crescent about 7.10pm.

He was taken to Orange Police Station where he was charged with armed robbery, aggravated assault, and driving on a learner licence without a supervising driver.

The man was refused bail, and after a brief appearance at Parramatta Local Court yesterday, he was refused bail again and will appear in Orange Local Court next Thursday.