Manuel also shared a video which showed the woman caressing and kissing the driver.
"She then proceeded to perform oral sex," Manuel said. "This was my last straw. I asked the driver to drop me off."
He claimed that he contacted Uber to complain, but only received a $10 credit, news.com.au reported.
"They have been extremely bad at answering any messages I've sent, and I demand something gets done," he wrote. "This is not okay!"
According to Gizmodo, the company is investigating the incident.
"The behaviour of this former driver is appalling and is not tolerated on the Uber app," said a company spokesman.
"As soon as this situation was reported to us, we immediately removed this driver's access."