A man has struck a deal with prosecutors that allows him to avoid any further incarceration while admitting that he stopped a 14-year-old autistic runaway while on his Star Tribune newspaper delivery route in Rogers and got a lap dance from her in his car.

Joshua C. Hart, 36, of Princeton, agreed with the Hennepin County attorney’s office on Tuesday that he will plead guilty to delinquency of a minor, a gross misdemeanor. In exchange, felony counts of fourth-degree criminal sexual conduct and soliciting a child for sex are being dropped.

If Judge Daniel H. Mabley approves the agreement at sentencing June 23, Hart will be sentenced to a stayed prison term of two years, given credit for the time he served in jail since his arrest and ordered to undergo a psychosexual evaluation. The state maximum for that count is one year in prison and a $3,000 fine.

Upon the agreement’s filing, Hart was released from jail. He had been there since Feb. 2, shortly before he was charged.

At the time of the incident, Hart worked for an independent distributor, said Star Tribune Vice President for Marketing Steve Yaeger.

The teen told police she fled her home about 3 a.m. on Jan. 7 intending to run away. Hart drove by as she walked down the street, and he invited her into his car, according to prosecutors.

Hart parked behind some townhouses, and the teen showed her breasts to Hart before he allegedly had her give him a lap dance.