The charge and discharge behaviour of an IDEAL capacitor via a resistor is nicely modelled with a 1st order differential equation, where the rate of charge is a function of the voltage difference between the source and the voltage at a specific time. As it charges up, the rate of charge goes down. If you solve this differential equation (that's a nice 1st year university problem) you get an exponential solution where V = Vin [1- exp (t/RC)] which approaches Vin, but only gets there for infinitely long times.
Now in the real world, “other stuff” gets in the way of this "infinite time, perfect solution", capacitors leak slightly and are a little bit inductive. They act as aerials and pick up a bit of signal from radio waves and also charge from the air. A really big capacitor can charge itself enough from this to kill you, which is why you seem them stored with shorting bars on. More explanations at the link below.
http://hyperphysics.phy-astr.gsu.edu/hbase/electric/capchg.html