61-year-old Elvin Suarez was charged with manslaughter, vehicular manslaughter and driving while intoxicated, police said.
Multiple people were struck Friday night at West 109 Street and Amsterdam Avenue when Suarez, driving a Mercedes SUV, hit a parked car, creating a chain-reaction collision with multiple other vehicles before striking several pedestrians on the sidewalk.
Cellphone video showed strangers struggling to lift the vehicle off a man who was pinned underneath.
Two men, 46-year-old Jason Negron and 35-year-old Michael Saint-Hilaire, were pronounced dead, police said.
Three other pedestrians were struck and taken to Mount Sinai Morningside, where they are in stable condition.