Scott Simon, 24, is heard talking to another person on the May 5 recording. He says he is going to follow Nicholas Romondo Walker, 33, out of his home and kill him, a release from the Broward County Sheriff's Office states.
Just a few minutes later, Walker was fatally shot while driving on Interstate 95.
Investigators said Simon orchestrated the act, but likely didn't pull the trigger.
Detectives arrested Simon Tuesday on a first-degree murder charge, the South Florida Sun Sentinel reported.
Simon has 15 previous arrests dating back to 2006 for cocaine possession, resisting arrest, fraud, disorderly conduct and driving violations.
Walker had 19 arrests dating back to 1997.