A former Boone pastor who was arrested after allegedly sexually exploiting a teenage girl and "grooming" her for several years has plead guilty to lesser charges, according to court documents.

Joel Waltz, 48, of Boone, was charged with sexual exploitation by a counselor or therapist, a class D felony, on March 13. He was booked into Story County Jail and posted bail on March 20. He was a pastor at Grace Community Church in Boone.

On Oct. 2, Waltz plead guilty to two counts of sexual exploitation by a counselor or therapist, an aggravated misdemeanor. In his written plea, Waltz admitted, "I kissed a person who I agree was emotionally dependent on me as a counselor. This kissing was for the purpose of arousing or satisfying my sexual desires. The events occurred when the person was under the age of 18."

According to court documents, Waltz and the victim first met at Grace Community Church while he was the youth pastor. The victim was 11 and in foster care at the time.

The victim told police that Waltz would pick her and her sister up from foster care and take them to lunch. She said he was "extremely nice" to her, and she began to trust and confide in him.

Ultimately, it led to several sexual encounters between Waltz and the girl when she turned 16.

Waltz's sentencing is scheduled for Oct. 15.