WPTV Rupert O'Neil Harty, 31, is led out of the West Palm Beach Police Department in handcuffs, charged with murder and attempted murder.

A Florida taxi driver who says he "heard a voice tell him to go kill someone" before he shot and killed a nanny who was riding her bicycle in West Palm Beach was arrested late Thursday, police said.

Rupert O'Neil Harty, 31, was charged with one count of first-degree murder in the Dec. 22 shooting of Amaria Grant following his arrest Thursday in connection with the Feb. 1 shooting of a male bicyclist, according to WPTV.

Records showed Harty was booked into jail early Friday and was being held without bond. It was unknown whether he has an attorney.

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West Palm Beach Police say Grant was riding her bicycle on South Olive Avenue near Edmor Road when Hardy approached her and shot her multiple times.

According to an arrest affidavit, Harty told police he was sitting at his home when he "heard a voice tell him to go kill someone."

After driving around in his taxi for 20 minutes, he parked and walked up to Grant, who was riding her bicycle on South Olive Avenue near Edmor Road.

Harty shot her multiple times and fled the scene, police said.

Police say Harty was charged with attempted murder in the Feb. 1 shooting that happened at the intersection of Broadway and 48th Street.

The cyclist who was shot in that incident was rushed to St. Mary's Medical Center with serious gunshot wounds but is still alive, police said.

When officers arrested Harty for the Feb. 1 shooting, he confessed to the shooting of Grant, police said.

Harty is expected to make his first appearance in court Friday, WPTV reported.