How to Get an ACD After Getting Caught Shoplifting

My question involves criminal law for the state of: New York

I am 17 years old, and I was caught taking about $28 dollars worth of merchandise from WalMart. They did not press charges, but a police officer was obviously called. I was taken to the station, fingerprinted and questioned. He gave me a ticket of appearance.
I have no criminal record. This was my first time shop lifting, and both the detective from WalMart, and the police officer agreed this was believable.

I just want to know how I should go about getting an ACD. And if I should get a lawyer, or not. I would also like to know what I should expect as a consequence of this. Please let me know what my best course of action would be.

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Quoting CeridwenM

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...........They did not press charges...........

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Hate to be the bearer of bad news, but, they are charging you. You were what's commonly referred to as "released on summons" and most likely have a court date noted somewhere on the summons.

Seeking legal counsel would be a very prudent course of action at this point.

Right, I know I have a court date. But the officer that spoke with me told me that I was very fortunate that WalMart was not pressing charges because of the amount, because I was very easy to deal with, I confessed right away, and they realized that it was a one time deal. That's what I was told, but legal action still needs to be taken, obviously.

I was just wondering how to request an ACD, and whatever else to help out my situation.

"I was taken to the station, fingerprinted and questioned. He gave me a ticket of appearance".

If you have an appearance ticket - someone filed charges.

Plead not guitly,ask for a public defender and see if an acd can be worked out. Sometimes for 1st offenses and minor ones an acd is granted if your lucky. You were basically arrested and processed just they did it quickly.