Mark Turner, 38, was fatally injured when a black Peugeot crashed into two parked cars in Riseholme Road, Gainsborough on 22 September.
A second person was seriously injured in the crash.
David Farrow, 39, has been charged with causing death by dangerous driving, causing serious injury by dangerous driving and aggravated vehicle taking.
Mr Farrow, of Haltham Green, Gainsborough, is due to appear at Lincoln Magistrates’ Court on 23 May.
A 15-year-old boy arrested in connection with the incident will have no further action taken against him, Lincolnshire Police said.
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