PITTSBURGH (Reuters) - A Pennsylvania man was arraigned on Friday for allegedly kidnapping, killing and dismembering a man and hiding his remains on a wooded hillside, authorities said.

Vito Pelino, 25, of Penn Hills is charged with homicide, kidnapping and abuse of a corpse in the slaying of William King, who had been missing since early Sunday, according to police.

His remains were discovered on Thursday.

King had left a local bar about 2 a.m. on Sunday with an unidentified woman and went to her home, police said.

Pelino arrived and said he would drive King home, she told police, and the two men allegedly left in Pelino's car.

A witness told police Pelino had claimed he killed someone he caught trying to have sex with the woman.

That witness reported seeing garbage bags containing a human leg in the basement of Pelino's mother's house. They loaded the bags into Pelino's car and took them to a wooded area, according to a police affidavit.

The witness took police to the area, where they found a man's torso, legs, arms and head.

Police then arrested Pelino, who has denied going to the woman's home or driving King, the affidavit said.

(Reporting by Daniel Lovering; Editing by Ellen Wulfhorst and Jerry Norton)