The incident happened on December 16 in the 900-block of Oakwood Avenue.
An 18-year-old who was at the home at the time hid in a closet and called police.
Authorities have released the 911 recording from that day.
CALLER: I'm in the upper floor, in, uh, a bedroom. I'm in the closet in the bedroom.
POLICE: Where do you believe the people are in the house?
CALLER: In my parents' bedroom.
POLICE: Is that on the same floor?
CALLER: Yes, it's the second floor.
Creed McGee of Evanston is charged with the burglary at the Wilmette home.
Investigators are trying to figure out if McGee is connected to a string of burglaries in and around Wilmette.