He would often travel by minicab or bus to the charity where he volunteered in central London.
Mr Worboys told the court he picked up some women he feared would be targeted by illegal minicab drivers.
The marshalled mini-cab project was set up by merchants in and around Leicester Square along with local minicab firms, the police and the council.
The driver of a silver Vauxhall Zafira minicab believed to have been used by those responsible for the killing has been urged to come forward.
Police at the scene of the Mark Duggan shooting removed a body and a gun from a minicab in which he was travelling, a court heard.
BBC: Mark Duggan death: Police 'removed body and gun from cab'
On Jan. 19, the first day after the Muslim fasting month, a quarrel broke out between a Muslim migrant and a Christian minicab driver in Ambon, the provincial capital.
Metropolitan Police said the minicab picked up two men in Camberwell then dropped them off at the Myatts Field Estate and Vassal Road area before parking in Moorlands Road some 20 minutes later.
She said she later saw an officer emerging from the back of the minicab, holding a handgun in his upturned hand, before he wrapped it in a black cloth and put it inside an evidence bag.
They left the minicab and made their way to the Moorlands Estate where they were for a couple of minutes before making their way back to the vehicle which is then believed to have taken them back to the Camberwell area, police said.
The woman, speaking from behind a screen and referred to as Miss J, told the court that after hearing two gunshots she emerged from her home to see a police officer dragging a body from the back of the minicab and placing it beside some railings.
BBC: Mark Duggan death: Police 'removed body and gun from cab'
Stuart Denney QC, barrister for Mr Hutchinson-Foster, asked the pathologist to imagine a scene in which Mr Duggan had got out of a minicab and was heading towards a wall beside the road while a police officer had got out of a car behind the taxi and was standing on the pavement.
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