"I had someone break into my house," Kendall told the KUWTK cameras. "I used to be the one who was so independent. I was always kind of by myself, in a good way, but now it's fully flipped."
The 21-year-old model opened up with her mom, Kris Jenner, and Scott Disick about her unnerving run-in. She detailed exactly what happened when she came back to her home in the Hollywood Hills and found a stranger waiting for her.
"So, I came home one night and there was a guy sitting on the side of my street, and I was like, 'That's so weird.' He just looked like a homeless man," Kendall explained. "I drove around and went into my house and I watched the gate close. I turned my car off, getting my stuff together. I'm about to open my door and I look in my rear-view mirror and he was standing right there."
According to Kendall, the man had come inside the gate and was standing behind her car, waiting for her to get out. Understandably, she began "freaking out" as the stranger said he wanted to talk with her.
"I was like, 'No, you need to leave,'" Kendall remembered. "I called one of my friends immediately. I'm sobbing crying. He was at my window, banging on my window, screaming at me."
Without any other options, Kendall said she began backing out of her driveway, and as she drove off, the man started running after her.
"At that moment is when my friends pulled up, and they like had him sit on the curb," she recalled. "And we waited for the police to come."
Kendall's sister, Kylie Jenner, also had experienced a scare when security monitors at her home indicated that someone was trying to break in.
Kylie, who was not home at the time of the incident, began to have a full-blown panic attack over what might the supposed robbers might do to her pet dogs. As she talked with her mom, Kris' boyfriend, Corey Gamble, drove to the house to see what was going on for himself.
As Kris began to panic, Corey tried to calm her down, explaining, "Listen, [Kylie] is not home, and there's been issues with the alarm system." However, his attempts to assuage Kris' fears fell on deaf ears.
Keeping Up With the Kardashians airs Sunday at 9 p.m. ET/PT on E!
Last week, a special KUWTK examined Kim Kardashian's traumatizing robbery in her Paris hotel room back in October. The mother of two got candid about what it was like in the moment, and fearing for her life. Watch the video below to see more from the harrowing episode.