Sipiliano faces up to five years in prison and a hefty fine as he prepares to go on trial next month.
The 49-year-old is accused of mounting the body of a 20-year-old woman at her own funeral, where mourners watched on in horror as some tried to intervene.
According to Zimbabwe TV and radio station Nahanda, which obtained a copy of the police report, Sipiliano entered the room where the woman's dead body was, where her mother and two female mourners were also present.
He was reportedly drinking beer and smoking cigarettes with another unnamed man inside the room, before telling mourners: "Greetings elders, you know I loved this lady but she has gone before I had slept with her.
"However, it is not too late, I can still have intercourse with her before she's buried, I am ready."
Witnesses told police that the woman's grieving mother had tried to step in to stop Sipiliano, but that she was unable to prevent him from removing a white cloth covering the corpse.
Sipiliano then allegedly mounted the corpse and simulated sex with her, reportedly remaining clothed.
According to the police report, the companion who had entered the room with Sipiliano beforehand allegedly held back three female mourners as they attempted to intervene.
After hearing the women screaming and trying to help, other guests eventually notified the police, before both men were arrested and charged with violating corpses.
Sipiliano was released on bail and fined Zimbabwean $5,000, which is the equivalent of around £10.
He was also ordered to remain at his residence, and was forbidden from seeing any witnesses.
He was filmed outside the court wearing a white shirt, trousers and face mask, accompanied by two female officers.
According to Zimlii, the two men now face up to five years in prison if found guilty, along with a hefty fine.
Sipiliano is due to go to trial in February.