On one occasion, Taylor held the girl's bottom for around 20 seconds.
The first time it happened he left the room immediately after touching the girl, but on the last two occasions he ran out as the youngster began to move.
The offending occurred at an address in Hāwera, South Taranaki, between January and December last year.
In December, the girl disclosed to a friend that she had been repeatedly sexually assaulted by Taylor, the summary stated.
Prior to her revealing his actions, her family had noticed a change in the girl's behaviour in that she had become withdrawn and had difficulty sleeping.
When he was arrested, Taylor showed remorse and admitted his offending to police, the summary said.
He didn't know why he had done it, it said.
On Tuesday, Taylor appeared in Hāwera District Court facing three charges of indecently assaulting a female under the age of 12. The charge carries a maximum penalty of 10 years' imprisonment.
Defence lawyer Paul Keegan entered guilty pleas on his behalf.
Judge Gregory Hikaka ordered a pre-sentence report, which would include electronically-monitored options, and referred the matter to restorative justice.
Taylor would receive his first strike warning when he is sentenced on April 22.