It is alleged that Paul Hancock escaped from a police vehicle in Harworth on February 21. He was later re-arrested on March 22.
Hancock, 37, of Amanda Road, Harworth, appeared at Mansfield Magistrates Court on Friday, charged with theft and escaping from lawful custody.
Because the latter offence is indictable only, he must be dealt with at a crown court.
Hancock was remanded into custody to appear before Nottingham Crown Court on April 20.