Velasquez chased the pickup carrying Harry Goularte through busy streets in three Silicon Valley cities on Feb 28.
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Investigators say 39-year-old Velasquez rammed the truck with his own vehicle before firing off several rounds with a .40-caliber pistol, wounding Goularte's stepfather, who was driving, in his arm and torso, prosecutors said.
About 100 people wearing T-shirts that read "Free Cain" showed up at the courthouse to show their support.
Last week, deputies were called to a San Marin daycare owned by Goularte's mother regarding allegations of sexual assault involving a child, the Santa Clara County Sheriff's Office said in a statement Wednesday.
After interviewing the child and others, investigators determined that a sexual assault had taken place and Goularte, 43, was arrested soon after, the office said.
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Velasquez is scheduled to be arraigned on Monday for attempted murder and other charges.
The Associated Press contributed to this report