The CBI sleuths probing the case recorded the statement of Nagar at Circuit House today, officials said.
Earlier in the day, Nagar told reporters that he had a full confidence on the CBI probe and he had given his views and statements related to the case in writing to the agency.
Nagar, who has denied the charges, said he would cooperate with the agency in the investigation and would not hide truth.
The Sodala Police station had booked Nagar for allegedly raping and beating up the woman on September 11, after calling her to his official bungalow in Jaipur on the pretext of giving her a job.
The CBI on October 9 took over the probe from the Rajasthan Police which had registered the case against Nagar, following which he resigned as the Minister of Dairy, Khadi and Rural Industries.
Earlier, the CBI team had conducted forensic examination of the official residence of Nagar, where he had allegedly raped the woman.
The CBI team had also recorded the statement of the victim at her residence.
Nagar, who tendered his resignation as minister, was suspended from Congress by the party high command last month.
(With PTI inputs)