A homeless man was charged Wednesday with killing a Boston man as he was getting off a Route 23 bus on Warren Street in Roxbury earlier this month.

Jahvon Goodwin, 21, requested that he be allowed to remain out of sight as he was charged in Roxbury Municipal Court in the stabbing death of Rashad Lesley-Barnes, 24. The arraignment occurred within feet of where Lesley-Barnes was killed and where, until Tuesday night, a memorial of candles and messages had been left in his honor.

Though no new details of the killing nor a motive were revealed in court, the father of Lesley-Barnes said Wednesday that he has faith in the criminal justice system to deal with the man accused of attacking his son on Aug. 15.

“I put it all in the system’s hands,’’ said Don Lesley of Dorchester. “I’m happy for what we’ve gotten so far.’’

Lesley was accompanied to court by one of the victim’s siblings, Laya Lesley-Barnes, who said the family did not know the alleged killer and remains in mourning.

“We don’t know anything,’’ she said. “He was a great kid who will truly be missed.’’

At the request of his lawyer, Goodwin was kept out of the courtroom. A not-guilty plea was entered on his behalf, and Goodwin was ordered held without bail by Judge Kenneth J. Fiandaca, who also revoked his bail in an unrelated case.

According to his relatives and co-workers, Lesley-Barnes had attended City on a Hill High School and had worked at Brigham and Women’s Hospital as a patient transporter since 2006.

Outside the courtroom, family members said Lesley-Barnes and Goodwin may have known each other in passing but that they were not close.

Greg Simpson, a cousin, said the family has been shaken. He remembered Lesley-Barnes as a caring friend and enthusiastic dancer.

“I wanted to come here today for my cousin, to support him,” said Simpson, who wore a button with a picture of the victim. “We’ve got to show our support for good people, and my cousin was a good person.”

The fatal stabbing was captured on surveillance cameras, and police had publicly circulated images from the incident to identify the attacker.

One image shows the attacker with his right hand raised as he apparently prepared to stab his victim.

Lesley-Barnes was one of five people slain in Boston over four days earlier this month. Also killed were three 22-year-old women who were shot to death on Harlem Street in Dorchester and a 34-year-old man who was shot in Roslindale.

The arrest in Lesley-Barnes’s killing is the only one made by Boston police in those cases.