Officials said that firefighters called HPD when they found a man with gunshot wounds and pronounced him dead at 8650 North Houston Rosslyn Road near West Little York Road.
Court documents identify the victim as Fernando Gallardo, who detectives describe as a man in his 40s.
Gallardo's car was not on the scene when police arrived, authorities said, but they later found the suspect, identified as Adan Gracia, driving the vehicle nearby.
HPD said that Gracia was eventually taken into custody and charged with capital murder, explaining that he shot and killed the victim while stealing his car.