Peter Drysdale, 20, of Quincy Avenue, and Timothy Jones, 18, of Chatterton Avenue, were charged with robbery, unlawful imprisonment and grand larceny in the frightening incident, police said.
At about 4 a.m. Sunday, Drysdale, Jones and a third man allegedly entered the backseat of a cab and asked the driver to take them to East 228th Street and Laconia Avenue, police said.
Once there, surveillance video from inside the cab shows one of the three men pulling something from his pocket and lunging toward the driver. Another of the men then leans over the front seat and reaches for the driver.
Police said the men held a knife to the driver, restrained him in his seat and stole his wallet. The suspects then allegedly fled on foot. The driver was not injured, police said.
The investigation is ongoing.