An Elmont man faces multiple charges, including second-degree murder, in connection with a 2023 hit-and-run in Queens that killed a pedestrian from Baldwin, prosecutors said Tuesday.

Warren Rollins, 49, is the second driver accused of leaving the scene after allegedly striking Gary Charlotin about 8 p.m. on Dec. 10, 2023, as he crossed Hempstead Avenue near 220th Street in Queens Village, Queens District Attorney Melinda Katz said in a news release.

On Jan. 10, 2024, the NYPD arrested and charged Osman Zavala-Varela, 38, of Hempstead, who the department alleged drove the first vehicle, a Toyota Camry, that hit Charlotin before continuing west on Hempstead Avenue. The force of impact launched Charlotin into the eastbound lane, the Queens district attorney said Tuesday.

Zavala-Varela pleaded not guilty in March 2024 to charges of leaving the scene of an incident without reporting and tampering with physical evidence, according to court records.

Katz said Rollins, driving east in a Chevrolet Traverse, hit an already injured Charlotin and knowingly dragged him "several thousand feet along Hempstead Avenue in Queens Village."

Rollins stopped the SUV and multiple bystanders approached, telling him to not move because Charlotin was trapped underneath the SUV, according to Katz’s office. Two minutes later, Rollins allegedly drove off with Charlotin, still alive and pinned underneath, for several blocks until the Traverse neared the Cross Island Parkway overpass. 

Good Samaritans found Charlotin, 66, who was pronounced dead at the scene by EMS personnel, the NYPD said at the time.

"The conduct displayed that evening demonstrates a complete disregard for human life," Katz said in a statement Tuesday.

Investigators reviewed video surveillance footage, found both vehicles and owners and tested DNA evidence recovered from the Traverse, according to the Queens district attorney.

Katz did not say whether the Camry was tested for DNA evidence.

At his arraignment Tuesday, Rollins pleaded not guilty to charges of second-degree murder, second-degree manslaughter, leaving the scene of an incident without reporting and criminally negligent homicide, according to court records.

Rollins is scheduled to return to court on July 17 and faces up to 25 years to life in prison if convicted, according to Katz.

On Tuesday evening, Gregory Watts, Rollins' defense attorney, said his client is "presumed innocent until proven guilty."

A jury trial in the case against Zavala-Varela is scheduled to begin July 10, his defense attorney, John P. Kapsalis, confirmed in a phone call Tuesday afternoon. Kapsalis declined to comment further on his client’s behalf.