KANSAS CITY, Mo. -- Jackson County prosecutors filed charges Friday against a 25-year-old in connection with a carjacking.

The carjacking happened Thursday near East 22nd Street and Lister Avenue.

Prosecutors charged Terry J. Stringer with first-degree robbery and armed criminal action, according to a news release from Van Buckley, the public information officer for the Jackson County prosecutor's office.

The incident began when a juvenile approached the victim, who was trying to sell speakers out of the rear of a van in the parking lot of a Wal-Mart store on Missouri Highway 40, according to the news release.

The victim agreed to follow the juvenile home so that he could get cash and was met by the juvenile and Stringer and Stringer was armed with a gun, according to the news release that cited court documents.

Stringer told the victim and whoever else was in the van -- at least one other person -- to get out of the vehicle, according to the news release.

They followed his orders, ran away and notified police.

On the way to the scene, police spotted the stolen van and chased it. It wasn't immediately clear how the pursuit ended, but when it did, police took Stringer and the juvenile into custody, according to the news release.

Prosecutors requested Stringer be held on a $250,000 bond.

Police turned the juvenile over to juvenile authorities.