Chief Chuck Hasty said in a statement Tillery would not heed the blue light and siren and continued driving to the area of Mills Street off West Tenth Street where he abandoned the car.
The passenger, Nashiem Malik Smith, 17, of Roanoke Rapids,was taken into custody at the vehicle.
Tillery was taken into custody at Creekside Court following a foot chase.
Tillery had outstanding warrants for a rape and kidnapping which reportedly occurred in January and was investigated by Lieutenant Charles Vaught.
Charges against Tillery stemming from the chase include flee to elude arrest; possession of a stolen firearm; possession of drug paraphernalia; maintaining a vehicle to keep a controlled substance and resist, delay and obstruct an officer.
Tillery received a $130,000 bond and May 18 court date.
Smith was charged with possession of a stolen firearm, possession of drug paraphernalia and possession of a concealed weapon. He received a $15,000 bond.
Lieutenant Charles Burnette, Sergeant Mark Peck, Master Officer Gerald Morris and Vaught assisted.
