It happened on Richmond Terrace in Mariner's Harbor on Sunday.
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Detectives determined the girl made contact with the 20-year-old driver on social media and the pair arranged to meet.
When the girl went home afterward, her mother called 911.
Police say this was not an attempted abduction, as initially reported.
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The ice cream truck driver, identified as 20-year-old Jonathan Castro, was questioned and later charged with endangering the welfare of a child, attempted sexual abuse and assault.
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