Prosecutors say the Bronx man who was charged with murder for killing EMT worker Yadira Arroyo knew what he was doing.

They said in an opening statement, this “wasn’t an accident, it was a murder.”

“Justice is what we all need, especially Yadira,” Arroyo’s uncle, AJ Hernandez, said.

Arroyo’s family members were in court Wednesday for opening statements as they have been for the dozens of hearings over the almost six years — where lawyers and mental health experts debated whether Jose Gonzalez was mentally fit to stand trial.

Last year, a court reversed an earlier ruling and determined he is fit to stand trial.

Prospectors say Arroyo was driving an ambulance in the Bronx on March 16, 2017, when Gonzalez started riding on its bumper.

As the ambulance neared an intersection in Soundview, investigators say Gonzalez jumped to the ground and grabbed a man’s backpack, which that man flagged Arroyo down for help.

When Arroyo stepped out of the ambulance, Gonzalez allegedly got behind the wheel and reversed it. He hit Arroyo as she tried to stop him.

The jury and those in court Wednesday watched video of the incident.

“Today was our first day of how we saw she was literally dragged under the ambulance. It’s hard. It’s very hard to see a colleague getting murdered,” President FDNY EMS Local 2507, Oren Barzilay said.

Prosecutors said Gonzalez was under the influence of PCP but maintain he knew what he was doing.

He’s facing charges that include first-degree murder.

The defense maintained in opening statements; he had a psychotic episode.

“On behalf of the family after six years to hear the same rhetoric on the part of the defense is very hard to swallow,” Hernandez said.

Two witnesses took the stand for the prosecution.

“Hopefully god willing, we get the justice that’s long overdue,” Hernandez said.

The defense for Gonzales refused to speak to media.

The prosecution continues its case on Thursday at 10 a.m.