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A terrified Bronx livery car driver thought he was a dead man when his passenger kidnapped him at gunpoint Thursday and ordered him to drive to Albany ? then took the wheel himself and locked the driver in the trunk.

“I really felt he was going to shoot me,” Aneudys Lendof, 34, told the Daily News. “I thought I was going to die.”

Lendof had picked up Robert Mizell, 27, in the Bronx. Moments later, the passenger changed his mind and told Lendof to exit the Saw Mill River Parkway and pull into a parking lot in Westchester County.

Mizell then ordered the driver into the trunk at gunpoint and got behind the wheel.

With Mizell now in control, the quick-thinking cabbie made a daring escape.

for New York Daily News

DAT car service, where Aneudys Lendof works. The driver says when the suspect walked into the business, he didn't suspect anything: 'He looked normal.'

Lendof said he was in the trunk for about five minutes when he managed to pop the trunk’s lock. He said he decided to jump out before they got back onto the highway. “I couldn’t jump if I was back on the Saw Mill,” he said.

“When I jumped I figured, ‘This is going to be my last day alive,’ but I landed and rolled down a hill. I stayed calm, but I was very scared.”

Lendof, who has been driving a livery car for about four years, broke his left foot in the tumble ? an injury that required surgery.

His brush with death began when a man, identified by police as Mizell, walked into DAT car service on Soundview Ave. in the Bronx Thursday about 11 a.m.

Anthony DelMundo/New York Daily News

Lendof, who broke his left foot and needed surgery after jumping from his car, is recuperating at Phelps Memorial Hospital (pictured) in Tarrytown. He says he isn't sure if he'll return to driving after the incident.

“He looked normal,” Lendof said. “We have a lot of cameras there. I didn’t think someone would do anything if he’s on camera.”

Mizell wanted to go to Harlem ? W. 142nd St. and Amsterdam Ave. ? but as Lendof approached the Deegan Expressway, Mizell asked the driver if he knew where he was going, Lendof said. It was a snide comment.

“Change of plans,” Mizell said, according to Lendof. “You’re taking me to Albany.”

When Lendof turned around, Mizell was pointing a .38-caliber revolver at his back, the driver said.

Lendof said he kept his cool as he was forced to head north on the Saw Mill. He was made to get off Exit 23 and pull over in a parking lot in Tarrytown.

After jumping from the moving vehicle, Lendof flagged the first car he saw. “I told him what happened and that I need help,” Lendof said.

rparascandola@nydailynews.com