NORWALK -  A Norwalk man went before a judge today for allegedly robbing an ice cream truck.

Police say the incident happened in the back parking lot of Dairy King on Main Avenue in June. They say Bennie Gathers asked a Mr. Softee truck driver to pull over, and then put his hand under his clothes as if he had a gun.

Investigators say Gathers has an extensive criminal history with charges including robbery and possession of a firearm.

Police say they were able to arrest Gathers on Saturday. He's being held on $350,000 bond.