BROOKLYN, N.Y. - Police have arrested and charged the man they say raped a child inside his taxi cab on Monday.

Authorities took 32-year-old Rafael Martinez into custody Tuesday night.

He is the operator of a livery cab from an independent cab company and is accused of raping a 12-year-old girl after he picked her up in Brooklyn.

Police say the girl's parents ordered the cab to take her somewhere, but then during the ride, he is said to have parked the car, entered the back of the car and raped the girl.

He then got back in the driver's seat and transported her to her destination. 

Martinez is charged with rape, criminal sex act, sex abuse, endangering the welfare of a child, menacing, and assault.