LONGMONT, Colo. (CBS4) – A man accused of stealing a running ambulance appeared in court Wednesday for be formally charged.

Police said the stolen ambulance was recovered after being taken by the man while paramedics were helping a woman in Longmont Sunday morning.

Robert Taylor, 51, is accused of stealing the ambulance. Police say Taylor had been drinking and wanted to stay warm.

Taylor was formally charged with vehicle theft and DUI on Wednesday.

Rosemary Winter, 86, had called 911 after she had fallen. While paramedics were helping her they heard the beeping sound of their ambulance backing up. The driver then fled.

“I heard someone outside say that, ‘Oh they took our ambulance.’ And she said, ‘That’s the second time this has happened.’ I said, ‘Well, who would be doing that?’ ” Winter said.

American Medical Response , the ambulance company, sent another ambulance to help Winter and she’s expected to recover.

A warrant check showed Taylor had an outstanding felony warrant for escape out of the Colorado Department of Corrections. He was also listed as missing person out of Fort Collins.