David Mitchell's brave victim was sitting in court with her family as Judge Scott Wolstenholme handed the former Brighouse hotel night porter an indeterminate sentence, with a minimum of four years.
But the judge, at Bradford Crown Court, told Mitchell that he posed a significant risk of causing serious harm to women in the future and he could not predict when, if ever, he would be safe to let out.
In April 2002 Mitchell, of Roomfield Street, Todmorden, was jailed for seven years and three months at York Crown Court after repeatedly raping another woman.
He was released on licence in November 2006, but 17 months later he confronted his latest victim as she took a short-cut home through Stoney Royd Cemetery, Siddal New Road, Halifax.
Heather Weir, prosecuting, said Mitchell asked the woman for a light and directions before confronting her again and telling her he had a knife.
He threatened to kill the woman and when she tried to shout out for help he said he would strangle her.
Mitchell forced her to climb through a gap in a metal fence before pushing her into a derelict chapel, where he had unprotected sex with her.
"He told her he was sorry and asked her not to tell the police," said Miss Weir.
Although the woman said she would not contact the police Mitchell became aggressive and demanded money from her.
He took her bank card and PIN number, which he later used that afternoon to withdraw £300 from her account and told the woman not to leave the chapel for ten minutes.
After the rape Mitchell travelled to Scarborough where he stayed in a hotel before handing himself in to police two days later.
Mitchell pleaded guilty to charges of rape, robbery and theft at an earlier court hearing.
Miss Weir said the victim, who cannot be identified for legal reasons, was now anxious about being out alone.
"This young woman was taking a short-cut to her home through a cemetery. You happened upon her and it appears very quickly decided you were going to rape her," Judge Wolstenholme told Mitchell.
"The emotional trauma you put that young lady through must have been considerable."
Although he concluded that the rape was not of sufficient gravity to merit a life sentence, the judge said it was appropriate to pass a sentence which would mean the defendant remained behind bars for as long as necessary to protect the public.
"This offence demonstrates an escalation in your lack of control of your aggressive sexual impulses towards women," the judge told Mitchell.
"You're not mentally ill but I agree with the doctor's conclusion that you pose a significant risk of causing serious harm to women in the future by the commission of further sexual or violent offences.
"I cannot predict at this stage when, if ever, there will come a time when you no longer pose such a risk."
Barrister Giles Bridge, for Mitchell, said his client handed himself in to the police because he knew he had left his DNA at the scene and would eventually be traced.
"In the pre-sentence report he has made an apology to the complainant and the probation officer," said Mr Bridge.