The incident happened shortly after 12 a.m. Saturday on Albany Post Road in Buchanan.
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Police say 44-year-old Eric Werner, of Buchanan, struck 63-year-old Joseph Orichello, also of Buchanan, just north of Bleakley Avenue.
Werner then allegedly fled the scene in a 2014 Jeep Cherokee.
Orichello was found lying in the road less than an hour later and pronounced dead.
Investigators arrested Werner at his home Sunday evening.
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The striking vehicle was recovered at a separate location.
Werner was arraigned Monday afternoon.
He has been charged with Leaving the Scene of an Accident Resulting in Death, a felony.
Bail was set at $25,000. Werner was expected to make bail.
His next court appearance is scheduled for Tuesday, January 8 in Buchanan.
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