Since the dawn of the Space Age, hundreds of payloads have been launched into heliocentric space. As near-Earth object (NEO) surveys search deeper for small asteroids, more artificial objects in heliocentric orbits are being discovered. We now face a challenge to identify the true nature of these objects and avoid contaminating the NEO catalog. Here, we present the methods used to characterize one such object. 2020 SO was discovered by the Pan-STARRS1 survey on 2020 September 17. Originally classified as a NEO, the object’s artificial nature became evident due to its low velocity relative to Earth and solar radiation pressure affecting its orbit about the Sun. Based on a backward propagation of its orbit, 2020 SO is thought to be a Centaur rocket body (R/B) from the launch of the Surveyor 2 mission to the Moon. We characterized 2020 SO using a range of ground-based optical and near-infrared telescopes to constrain its true nature. We find that its reflectance spectrum is consistent with that of other Centaur R/B launched during a similar time frame, and we identify 1.4, 1.7, and 2.3 μm absorption bands consistent with polyvinyl fluoride used on the aft bulkhead radiation shield exterior of Centaur-D R/B at the time.