Kendall Jenner Testifies Against Alleged Stalker, Judge Grants 5-Year Restraining Order Extension

The reality star detailed the scary encounter with her alleged trespasser in court on Thursday.

Kendall Jenner has taken action against her alleged stalker.

The 20-year-old reality star appeared at the Clara Foltz Criminal Justice Center in downtown Los Angeles on Thursday to testify as a witness in the criminal case against Shavaughn McKenzie, who has been charged with two misdemeanors -- one count of stalking and one count of trespassing.

WATCH: Kendall Jenner's Alleged Stalker Charged With Stalking, Trespassing

Mona Edwards

While speaking to judge Dorothy C. Kim, Jenner -- who was dressed in light-colored skinny jeans with a white sweater and full makeup -- detailed her traumatic encounter with McKenzie on the night of Aug. 14, in which she found him sitting on the street in front of her home in West Hollywood, California.

Mona Edwards

"I've never been so scared in my life," Jenner explained to the judge and jury, which was composed of seven women and five men, according to The Associated Press. "I was terrified. I was literally traumatized."

"It's definitely put me even more on edge," Jenner continued. "I definitely don't feel safe in my own house anymore."

Mona Edwards

WATCH: Kendall Jenner Granted Temporary Restraining Order Against Alleged Stalker

Jenner told the jury that as she entered the driveway to her home around 9:30 p.m., she "saw a figure" in her mirror. She claimed McKenzie followed her in, approached her car, and yelled, "I want to talk to you."

"I probably screamed at him six or seven times for him to leave," she added.

Jenner testified that after police arrived to the scene, she spoke with them about what happened. They then escorted her into her house to grab her things before she left to stay with a friend that night. "I had the police go in the house with me because I didn’t want to go in alone," Jenner stated. "I think it brings it back to dealing with him before. I didn't know his intention, it could've been very bad."

As ET previously reported, Jenner claims the incident occurred after she returned home from a casual dinner at The Cheesecake Factory with rapper Tyler, the Creator, and her close pal, Hailey Baldwin. McKenzie allegedly followed Jenner after she opened the gate to her private $6.5 million residence, which prompted her to call 911 at the time.

WATCH: Kendall Jenner Gets Dinner With Tyler, The Creator Before Encountering Alleged Stalker

Following McKenzie's arrest, Jenner obtained a temporary restraining order against the 25-year-old trespasser. "As a result of Mr. McKenzie's repeated harassment and stalking of me, I fear for my life and have suffered, and continue to suffer, emotional distress," Jenner stated in documents obtained by ET at the time.

Judge Kim extended that order for five years on Thursday. McKenzie must now stay 100 yards away from the reality star. The trial continues Monday, Oct. 17 at 10:30 a.m.

Unfortunately, the model isn't the only one in her famous family dealing with a terrifying legal situation. New details have emerged in the ongoing investigation in Kim Kardashian West's robbery, where she was tied up and held at gunpoint in the hotel she was staying in during Paris Fashion Week.

A source told ET on Wednesday that due to the scary heist, the entire Kardashian-Jenner clan has upped their security protocol.

"This incident has scared everyone," the source explained.

-Additional reporting by STEVE WILKS

WATCH: Kim Kardashian Returns to Social Media After Paris Robbery