A New Haven man on probation on a drug conviction was charged with stealing a BMW X3 three years ago from a Darien resident as a result of a latent fingerprint found in the front driver’s side door handle.

Martin Burruss, 24, of Liberty Street, New Haven, was charged with first-degree larceny, conspiracy to commit first-degree larceny, third-degree larceny, and conspiracy to commit third-degree larceny, according to an affidavit.

The car was stolen the evening of Nov. 19, 2012 from the driveway of a Darien home and tracked the next day using GPS to Cave Street in the Newhallville section of New Haven, according to the affidavit.

When Burruss met with Connecticut State Police about the incident, he told them he and two accomplices pulled off Interstate 95 between 9 p.m. and 10 p.m. into Darien on the night of Nov. 19 with the intention of burglarizing cars, according to the affidavit.

While stealing from various cars, a second man found keys in the BMW-X3 and the men agreed to steal it, according to the affidavit. The men drove back to New Haven in separate cars and parked the BMW in a lot on Cave Street, according to the affidavit.

Burruss was held on $35,000 bond, and was to appear in state Superior Court in Stamford on Wednesday, Dec. 16.