Esquibel is accused of hitting and killing a woman, Laura McDermott, while driving Sunday morning near Broadway and Cedar Street.
According to arrest documents, Esquibel admitted to being behind the wheel during the crash, and told police his girlfriend was a passenger in the car.
However, Esquibel's familiy says it was not Dennis who was driving it was his girlfriend.
Eleven members of his family showed up in court on Friday to show their support for Dennis.
"This is a horrible, horrible accident," Dennis' sister DeeDee told 9NEWS. "He's a good person and didn't mean to do this."
The Esquibel family also went on to offer their condolences to the family of Laura McDermott. A judge set his bond at $100,000.
Esquibel has a lengthy criminal history.
He served time in prison for drugs and car theft and was on parole until 2013.
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