Last year, Richard Weiner and his wife hired a 58-year-old Coldwell Banker real estate agent named Robert Lindsay to sell their house in Wayne, New Jersey it. Once it hit the market, they moved out.

But they installed motion-detecting security cameras in the house to make sure no one broke in or vandalized the place while it was empty.

And they were SHOCKED when they saw Robert in their house over and over again . . . having sex with a blonde woman. Robert is married . . . and it wasn't his wife.

The woman turned out to be 46-year-old Jeannemarie Phelan, another real estate agent . . . who's ALSO married.

So Richard SUED Richard and Coldwell Banker. He accused them of listing the house at $650,000, which is way too high . . . just to keep it empty for sex. Coldwell Banker stopped working with both Robert and Jeannemarie.

They COUNTERSUED Richard, claiming he was extorting them. And he just responded to that countersuit by . . . giving some footage of them in his house to "Inside Edition".

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