He said that simple gesture turned into a terrifying ordeal that included getting beaten and left to die.
"I'm just thankful that I got away. That they didn't actually kill me," Underwood said.
He said the whole ordeal started out as a way to get some quick, extra money.
"I thought it was pretty well safe. I figured I need the money so, that's all I was doing -- just driving, you know?" Underwood said.
But what actually happened on Dec. 7 was much worse.
"They raped the young lady and they beat me," Underwood said.
Authorities said Underwood was one of eight who found themselves in the middle of an elaborate Internet sex crime. Four women were raped between Nov. 28 and Dec. 11. Two other women and two men, including Underwood, were kidnapped and beaten.
The rape victims all responded to a classified ad from the website backpage.com.
Two male suspects in the kidnappings and assaults have been arrested.
Underwood said the beatings lasted six hours. He also said he witnessed the woman who he had given a ride raped repeatedly. Underwood was left for dead near a swamp off of Interstate 95. He suffered a broken arm, ribs, missing teeth, and head trauma in the beating.
"They told me once they got me to the swamp, that's when they were going to kill me and maybe kill both of us," Underwood said.
However, he was able to make it to the interstate where a truck driver called 911. The woman had already run off.
The two men left with Underwood's truck, and the truck now sits in a tow lot. After it was processed for forensics, Underwood was expected to pay for his transportation.
"I feel like I've been robbed again," Underwood said.
The home that all the victims went to along Lariat Drive in Parkton has since burned down. Authorities said the fire was accidental.