According to KSTU, the man was a client who entered the home with an agent for a typical open house showing.
In the home surveillance video, viewers can see the man walk out of the camera's view to take a look at one of the bedrooms.
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When he's seen again, officers say you can notice a visible bulge by his stomach and it looks like he just stuffed something underneath his shirt.
Officer Haobsch of the San Mateo police department says the man stole 5 bras and those are the only items he left with.
Authorities are asking for help in identifying the man they say is approximately a 5'4 Asian man.