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(CNN) -- A court has charged with murder the man who shot and killed a woman who was a passenger in a car that mistakenly pulled into its driveway in rural New York.

Kevin Monahan, 65, was charged with intentional manslaughter, reckless endangerment and tampering with physical evidence, according to the indictment.

The court told CNN that Monahan was arraigned Wednesday and pleaded not guilty to the charges. CNN has reached out to Monahan's attorney for comment.

Monahan is accused of shooting at a vehicle full of passengers, including 20-year-old Kaylin Gillis, when they accidentally turned into its driveway while searching a friend's house last month in Washington County, about 55 miles north of Albany.

Gillis died soon after.

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Blake Walsh, Gillis' boyfriend, said he was driving the car the night they got it wrong. The man told NBC in a phone interview that he, his late girlfriend and two friends were looking for a party. Four friends were traveling in another vehicle and also made a mistake at first.

"We thought we were heading in the right direction," Walsh told NBC. "We didn't have mobile service to find out. As soon as we realized we were in the wrong place, we started dating, and that's when it all happened."

After a bail hearing, the defendant returned to police custody. Prosecutors argued that Monahan's conflicted and compulsive temperament should be taken into account and requested that he be returned to custody without bail, CNN previously reported.

Monahan's attorney, Kurt Mausert, said at a hearing that his client should have been granted parole because he had never been arrested or convicted in New York state and has been a local resident for more than 30 years.

The lawyer has disputed the sheriff's description of events, saying there were several vehicles revving their engines and approaching the entrance of Monahan at "high speed".

The victim's father, Andy Gillis, has called for justice and described his daughter as an "intelligent, kind and caring" young woman who dreamed of becoming a marine or veterinary biologist.

"For this man to sit on his porch and shoot at a car without any threat is simply... (I) get so angry, and I just hope for God that he dies in jail," Gillis said after Monahan's bail hearing in April. "Kaylin deserves justice."

Monahan is expected to return to court on July 28 and his trial is expected to begin in September.

CNN's Laura Ly and Mark Morales contributed to this report.

Gun Violence