A man pleaded guilty Tuesday to stealing over $430,000 from a cash courier for several Massachusetts cannabis dispensaries in a chaotic, orchestrated robbery outside a bank.

Steven Madison, 39, of Bridgewater, pleaded guilty to several charges in connection with the 2024 armed robbery, the U.S. Attorney’s Office said. He will be sentenced at a later date.

Madison was arrested in May 2024 for his role in the Feb. 19 heist. He was charged in connection with the crimes alongside three others, including former dispensary manager Elgun Mikaiylov, who is accused of helping plan the theft and provide details on courier cash pickups. Court proceedings for the other men charged are still ongoing.

Early that February morning, Madison and an accomplice stole a U-Haul rental van from a Moving & Storage location in Abington, the U.S. Attorney’s Office said.

The pair waited until later that day for an armed cash courier to arrive at a Swansea bank to deposit about $436,200 in cash from several cannabis dispensaries. They pulled up behind the courier, and the accomplice jumped out in a camouflage vest, pointing a gun at him before zip-tying his hands behind his back, the office said.

Madison then got out of the van and quickly loaded the hundreds of thousands of dollars into the U-Haul. He and his accomplice tried to disarm the courier, the office said, but ended up forcing him into the back seat of his own car, pepper-spraying him and closing the door.

The courier managed to get an arm out of the zip-ties from inside his car, surveillance footage showed, and fired four gunshots at the U-Haul as it sped off before calling 911.

Madison and his accomplice escaped to a nearby area in Swansea to meet with a third man in an SUV, the office said. They transferred the cash to the getaway car, then set the U-Haul van on fire and fled the scene.

When law enforcement searched Madison’s home in Bridgewater, they discovered a pistol and more than 400 grams (14 ounces) of cocaine. Madison has previous state convictions for masked armed robbery, assault and battery with a dangerous weapon and unlawful possession of a firearm.

Madison pleaded guilty to one count of robbery, one count of conspiracy to commit Hobbs Act robbery, one count of brandishing a firearm in relation to a crime of violence, one count of being a felon in possession of a firearm and ammunition and one count of possession with intent to distribute cocaine.

His sentencing will be scheduled for a later date.