Mr Driscoll, who faces three counts of sexual assault, had been drinking with the woman the night before, the jury was told.
The prosecutor said that seven and a half hours after they parted Mr Driscoll “barged” his way into the room and was “slobbering all over her face”.
The woman denied she was wearing such underwear and described being picked up and thrown on the bed.
She said Mr Driscoll had jumped on top of her, tearing at her clothes.
The woman said she fought him off and while she answered the phone, Mr Driscoll undressed.