Investigators said the suspect ran over the man with his own minivan as she and two others stole his vehicle.
Montoya Perry, 33 of Maywood smiled widely in a police mugshot despite being charged with the violent crime.
She's facing felony murder and vehicular hijacking charges for the early Monday morning attack.
Perry has eight prior felony convictions dating back to 2010. She was out on pre-trial release for another incident that happened two weeks ago, when the crime earlier this week occurred.
She has a history of aggravated robberies, carjackings, fleeing from police and lying to police.
A judge ordered Perry, who entered the hearing on crutches, detained Wednesday, pending trial.
"It was important to be here because Daniel didn't deserve this. You know, even though they have one person in custody, you know, we still need justice to be served," girlfriend Sandra Guerrero said.
The victim's family was very emotional in court Wednesday.
"I'm pretty numb still. I can be angry. I can be hurt, but that's not gonna bring my son back. I'm gonna let justice take its place," mother Eleanor Rivera said. "I'm happy in my heart she's being detained and the case is moving forward. There's no doubt in my mind she did it, and she did it with intent to hurt and left my son there to die."
At one point, a fight broke out between members of Figueroa's family and members of Perry's family.
"Things were said in the court room by the other family and they reacted; that's all I'm gonna be able to say," Rivera said.
Two members of the victim's family were briefly detained before it appears they were let go.
Figueroa's longtime girlfriend Guerrero said he had just gotten off work from Amazon and planned to work extra hours for Uber Eats when the unthinkable happened.
She said the 28-year-old had just dropped off his final food order of the night at Loretto Hospital when three people allegedly tried to steal his minivan.
Investigators said Perry was behind the wheel when Figueroa tried to stop her from driving off. He ended up being dragged for half a block before being run over with his own vehicle.
Chicago police said the Downers Grove native died after being found around 2 a.m. that same morning lying unresponsive on West Flournoy Street on the city's West Side.
Prosecutors say a doctor at the hospital was supposed to receive the food, but became suspicious after not getting any updates.
They say he then made his way outside, where Figueroa was found lying in a pool of blood. He died shortly after.
Investigators said they've recovered Figueroa's minivan. His family said he cared deeply about people and loved to fish as a hobby.
Meanwhile, investigators are still looking for the suspect's two accomplices.
Funeral services are now being planned for this weekend, while a GoFundMe has already raised more than $12,000 to help Figueora's girlfriend and her young son, Dariel.
"I just pray with the help of the justice system and everyone involved that Daniel gets justice. My son deserves to live with his smile and continue to smile upon us all," Rivera said. "I love you Daniel wherever you're at."
Perry is due back on court March 18.
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