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Ian Stafford, 59, was a church-goer and highly respected member of the community and Mayor of Preesall in Lancashire before his ''bluntly revolting'' behaviour was uncovered, Preston Crown Court heard.
A part-time handyman and gardener, he had been employed for years by some of his victims who trusted him with keys to their homes.
But while alone Stafford, a bachelor, would creep into their bedrooms, rifle through underwear draws and masturbate before replacing the knickers and also stealing some of the garments.
One suspicious homeowner who began to notice the thefts then planted hidden cameras - which captured one episode with Stafford in the bedroom naked from the waste down acting out his fantasy, the court was told.
The 14-minute DVD was passed to police and Stafford's home searched where officers found stolen underwear which were marked with the women's names on them, the court heard.
Stafford, of Sandycroft Place, Preesall, who resigned as mayor after being arrested, was jailed for two years after pleading guilty at an earlier hearing to three counts of burglary with a further count taken into consideration.
The charges relate to the homes of four women in Poulton-le-Fylde and Stalmine in Lancashire.
After hobbling into court using a walking stick, past his victims in the public gallery, his jaw dropped as he was sent down by Judge Heather Lloyd, who told him his actions were ''bluntly revolting''.
''Your private desires or fantasies which should only be your concern became public when you decided to do what you did in the homes of those who trusted you,'' she told him.
''To masturbate into a woman's underwear and place it back in the draw, repeatedly, as seen in the DVD, as you have done in other homes is bluntly revolting and the impact on your victims is high.''
The court heard the victims were ''embarrassed, disgusted and shocked'' to discover how the man they trusted was getting his ''sexual kicks''.
A man who was formerly a mayor of a village in Lancashire, England has been jailed for two years after being found guilty after admitting four charges of burglary. England with Lancashire in red.

59-year-old Ian Stafford, a bachelor, was formerly the mayor of the village of Preesall, however he had to resign from his position in 2009 after being arrested for burglary. His crimes would involve going into houses of people who had entrusted house keys to him as he was employed by them as a handyman or a gardener. He then searched through drawers for underwear before carrying out sex acts and stealing or replacing the underwear, and then leaving the properties. He also stole some garments. The burglaries took place in the villages of Stalmine and Poulton-le-Fylde between the dates of January 1 and June 26 in 2009.

One person became suspicious and installed a hidden camera inside her bedroom. As a result, a 14 minute DVD was recorded which shows the former mayor walking naked from the waist downwards. The DVD was passed on to the police. Police officers later raided Stafford's residence and found the underwear, which had been marked with the names of the owners. The underwear is said to have been worth up to £900 (US$1407).

The trial was held in Preston Crown Court. There the Court heard of how the victims had been "embarrassed, disgusted and shocked" by the "sexual kicks" which the man had been getting. During a previous interview with police, Ian Stafford commented at how he felt "deeply ashamed at the whole scenario because I have hurt people who have been excellent friends - I could not wish for better. I wish I had said something to someone earlier. I am not proud of any of this, I am sickened. I wish I could turn the clock back." 

Inside the court on Thursday, Judge Heather Lloyd said to Stafford: "Your private desires or fantasies which should only be your concern became public when you decided to do what you did in the homes of those who trusted you. To masturbate into a woman's underwear and place it back in the draw ''sic'', repeatedly, as seen in the DVD, as you have done in other homes is bluntly revolting and the impact on your victims is high." She sentenced Ian Stafford to two years in prison, with the recommendation that he takes therapy, a decision which was supported by Stafford's fourth victim.

After the court trial had concluded, Detective Constable Steve Montgomery, who comes from Lancashire Police, stated: "This has been a distressing ordeal for the victims involved, all of whom had let Mr Stafford into their homes, trusting him to carry out maintenance. They certainly did not expect him to search for, and steal, their possessions. There has been a breach of their trust in a very intimate nature. The victims are relieved that the court process is now over."