MIAMI -- Two-time Indianapolis 500 champion Helio Castroneves pleaded not guilty to federal charges of tax evasion and conspiracy in a Miami courtroom Friday.

An emotional Castroneves, 33, was shackled and handcuffed as he was led into the courtroom, Call 6's Rafael Sanchez reported. Outside court, he thanked his supporters and vowed to fight the accusations.

"I know the difference between right and wrong and I did not do anything that those guys' saying," he told reporters. "It's been an emotional day, obviously, but first I want to thanks all of my fans, my friends, my family, the kind words that you guys gave me ... I'm going to treat this matter like a race, like a challenge race."

A grand jury indicted Castroneves on Thursday, accusing him, his sister, Kati Castroneves, and attorney Allan Miller, of using offshore accounts to evade taxes on more than $5 million in income from 1999 through 2004.

Castroneves was released on $10 million bail and will race in Atlanta this weekend, said attorney Mark Seiden. The "Dancing With The Stars" champion will be allowed to travel in the U.S. for work, but cannot leave the country.

"Helio has always done the appropriate thing and hired accountants and attorneys he relied upon," said attorney David Garvin. "We are of the strong belief that he did not do anything wrong. We're looking forward to going to court."

Castroneves' public relations spokesman, Bud Danker, told 6News on Thursday night that Castroneves and his employer, Team Penske, were cooperating in the investigation.

"Penske Racing is aware of the tax matter filed against Helio Castroneves and we fully support his right to his day in court," he said. "In fact, we intend to have Helio continue to drive for Penske Racing, including this week's race in Atlanta as the matter proceeds in court."

The famed Brazilian driver, who owns a Coral Gables, Fla., mansion valued at $2.3 million and races for Team Penske, won the Indianapolis 500 in both 2001 and 2002.

Part of the indictment alleges that Castroneves concealed income he received from Penske and Coimex International, a Brazilian firm.

Prosecutors said money Castroneves received from Penske was supposed to go to a Panamanian shell corporation but was diverted to a Dutch entity called Fintage Licensing.

Fintage was set up as a "deferred royalty plan" in which U.S. tax payments can be delayed, which is only legal if Castroneves had no relationship or control over it. Prosecutors say he did have control and that false statements were made to Penske about the relationship.

Coimex paid Castroneves $600,000 between 1999 through 2001 for sponsorship contracts, but he only paid taxes on about $50,000, prosecutors said.

Kati Castroneves transferred some of the hidden money to a Swiss bank account she controlled with her brother, court documents show.

He reached celebrity status last year by winning the fifth season of ABC's reality TV show "Dancing With The Stars" with partner Julianne Hough.

Castroneves recently signed on with "Entertainment Tonight" to be a correspondent for some episodes of this year's "Dancing With The Stars" show. He did a similar stint last year and worked for RTV6 as a racing analyst before this year's Indianapolis 500.

Each of the counts against the racecar driver carries a maximum five-year prison sentence.