Kevin Garcia, 55, died just after 1:30 p.m. He had been in a coma and on life support after police say he was kidnapped from his job on Tuesday and brought to North Texas.
Detectives say 36-year-old Nathaniel Tillery ran over Garcia with Garcia's pickup truck, threw him in the truck bed and drove him to North Texas.
Police tracked the two men down outside of Tillery's stepbrother's home in Haslet.
Witnesses said that when Garcia got out of the bed of the black truck, he had a serious head injury.
Tillery is charged with robbery, kidnapping and assault.
He's being held on a $520,000 bond.