BROWN DEER, Wis. (CBS 58) -- A Milwaukee man has been formally charged in the murders of two brothers in Brown Deer. 

Joseph Tucker, 19, is charged with two counts first degree intentional homicide -- as a party to a crime -- and operating a motor vehicle without the owner's consent, as a party to a crime. 

Officers responded to a home near 62nd and Goodrich Lane in Brown Deer on Sept. 1, 2022, after a caller reported that she found her son, Amarion Brown, unresponsive with a gunshot wound.

According to a criminal complaint, the caller indicated that she lived in the home with her children, including Amarion Brown and Charlus Robinson Jr. She said the previous night, Amarion had a friend over at the house, whose name is "Joe."

The woman went on to say she thought she'd heard a "pop" around 5-6 a.m. but wasn't sure where it came from and went back to sleep. She said when she woke up, Joe -- later identified as Joseph Tucker -- was gone. She said her daughter later went to wake Amarion up and found that he had been shot.

Prosecutors say another individual in the home reported waking up to the sound of the back door opening and a loud revving noise around 4-5 a.m. He observed that the woman's Jeep was missing, however, the complaint says he assumed either Amarion or Charlus was using it.

After obtaining a search warrant for the property, officers discovered the body of Charlus Robinson in the driver's seat of a vehicle parked in the driveway. An autopsy revealed Charlus died from two gunshot wounds to the head.

The complaint says it is probable that Tucker, working with another, intentionally caused the deaths of Amarion and Charlus.

It goes on to say phone records and other internet/network records show Tucker was at the scene of the homicides around the time they occurred, and surveillance shows he was involved in taking the mother's Jeep without consent before later abandoning it. 

Both of the victims were 18 years old. 

Tucker's cash bond has been set at $500,000. A preliminary hearing has been set for March 9.