The man accused of holding Nick Kyrgios’ mother at gunpoint and stealing the tennis star’s car has pleaded guilty to the crime in the ACT Supreme Court.

According to the ABC, court documents revealed the 33-year-old demanded the keys to the Tesla while pointing a gun to Kyrgios’ mother before driving off with it in May last year.

Police pursued the car for a short period but stopped after they had entered a school zone.

They said the man was later caught after Kyrgios used an app on his phone to track the car and control its speed.

The accused was denied bail over the incident and has been in custody since.

Last year he pleaded not guilty to five charges of aggravated robbery, driving a vehicle without consent, failing to stop for police, resisting a public official and driving while suspended.

His lawyers even tried to have the case thrown out, saying police had taken too long to hand over their brief of evidence.

They also said that there was a risk the 33-year-old man might serve longer on remand at Canberra’s jail than any sentence which may be imposed.

On Friday he pleaded guilty to robbery with an offensive weapon.

It can now be revealed the man is the same one who hit and killed 21-year-old Canberra woman Clea Rose with a stolen car during a police chase on July 30 2005.

Rose died three weeks after the hit and run, and the man, who was 14 at the time, pleaded guilty to culpable driving causing death.

He was sentenced to 18 months in a youth detention centre.

As a result of the incident, Rose’s parents spent years lobbying for better protocol when it comes to police pursuits in the ACT and their efforts paid off in 2016 when new rules were introduced limiting the reasons police can use to justify chasing a driver.

The court has now referred to accused to the Drug and Alcohol Court for assessment at the request of his lawyer, prior to any sentencing.

The case has been adjourned until next month.