Police say 32-year-old Jacob Segura of Columbus walked into the Madison Police Department on Jan. 30 and asked for a ride to Columbus.
An officer told Segura that police couldn't provide rides but later tried to arrange a ride for the man through the Madison County and Platte County sheriff's offices.
Meanwhile, Segura went outside to smoke. Police say that's when Segura hopped into a cruiser and took off. He was later found at a rural Creston house.
Because a police shotgun was in the cruiser, Segura was charged with theft and being a felon in possession of a firearm.
Segura is being held on a $250,000 bail. He is set to appear in Madison County District Court on March 19. Case records don't list his attorney.