HOUSTON – A couple accused of being intoxicated, half-dressed and passed out inside a running car with their children in the back seat appeared in court early Thursday morning.

Dickison San Juan, 22, and the children's mother, Jessica Bello, 20, were stopped Tuesday at an intersection in the 2000 block of Parana Drive, prosecutors said.

[VIDEO: Parents face judge]

"Officers noted that the driver was asleep behind the wheel. He was mostly unclothed with his pants down to his ankles and there was a female on top of him that was asleep and mostly unclothed as well," prosecutors said in court. "The vehicle was running and in drive. I guess he had a foot on the brake."

VIDEO: Jessica Bello, Dickison San Juan appear in court

Officers said they found a 2-year-old and a 1-year-old in the car. One child was asleep in a car seat and the other was improperly restrained in the back seat, police said.

The children are being cared for by one of San Juan's family members, according to police.

San Juan is charged with driving while intoxicated with a child passenger under the age of 15 and endangering a child. He is in jail on a $30,000 bond.

Bello is also charged with endangering a child. She is free after posting a $15,000 bond. Bello was ordered by a judge to have no contact with her kids.