Three-time NASCAR Cup champion Tony Stewart and the parents of Kevin Ward Jr. have agreed to settle the parents’ wrongful-death lawsuit against Stewart, according to an ESPN.com report.

The suit stemmed from the 20-year-old Ward’s death Aug. 9, 2014 at the Canandaigua Motorsports Park (now called Land of Legends Raceway), when Ward got out of his car and was struck by Stewart’s car. Stewart was not indicted by a grand jury and thus did not face criminal charges. The family filed its suit in 2015.

A settlement hearing has been scheduled for April 12 in Utica to finalize the settlement, according to the ESPN report. Without a settlement, a trial was scheduled to begin in May. Ward’s parents claimed Stewart recklessly swerved toward Ward to intimidate him. Stewart held that Ward acted recklessly in exiting his vehicle and approaching Stewart's car in motion, and referred to the presence of marijuana in the younger driver's system.