Two men armed with a gun and a knife broke into a home on Natasha Way in Camillo early this morning, police alleged.
The men allegedly threatened three residents of the home, before stealing a car and several household items.
After they fled the house, police said an allegedly stolen Ford Falcon was seen in nearby Thornlie where it failed to stop for police.
After a short pursuit, the car stopped on Greenway Avenue, with the driver fleeing on foot.
He was arrested, with police locating the gun they suspect was used in the alleged home invasion.
Police charged a 31-year-old man with a string of offences including aggravated home burglary, armed robbery, theft of a car, driving recklessly and without a license, and failing to stop when directed.
He is due to face the Perth Magistrates Court tomorrow.
Armadale Detectives are still seeking information about the incident, with anyone who may have information urged to come forward.