Bayron E. Cuellar, 27, has been charged with involuntary manslaughter in the first degree in connection to the Dec. 13 shooting death of 19-year-old Luis Palacios-Romero.
Romero was killed on Dec. 13 near Interstate 435 and Winner Road.
Court documents say Cuellar was irresponsible with his handgun while he was a passenger inside the vehicle with Palacios-Romero.
The victim was shot in the head. He was driven to Children's Mercy Hospital, where he was declared dead.
Cuellar is in custody of law enforcement.
Prosecutors have requested a $50,000 bond.