A founding member of the seminal hip-hop group Grandmaster Flash and the Furious Five fatally stabbed a 55-year-old homeless man in the chest because he thought the man was making a sexual advance, prosecutors from the Manhattan district attorney’s office said Thursday.

Nathaniel Glover, 57, who performed under the name Kidd Creole, was charged with second-degree murder and was ordered held without bail in the death of the man, who was identified by the police as John Jolly.

Mark Dahl, an assistant district attorney, said the encounter between the two men was captured on surveillance video and began as Mr. Glover was headed to work in Midtown.

Mr. Glover walked past Mr. Jolly, who said: “What’s up?”

Mr. Dahl said that Mr. Glover said he had taken the statement as an indication that Mr. Jolly believed he was gay and was making an aggressive pass at him. Mr. Dahl said that Mr. Glover had claimed that the statement was delivered in a threatening fashion.