Buchanan County Prosecutor Dwight Scroggins has charged Harris with involuntary manslaughter in the death of Kecia King.
King was found on the side of I-29 late Saturday by passing motorists.
She later died at the hospital from traumatic brain injuries.
Florida authorities arrested Harris on Tuesday after a warrant was issued for his arrest.
Monday's hearing will determine if Harris will voluntarily return to Missouri, or if an extradition hearing will be held. An extradition hearing could take up to several months.
Harris is in custody at the Broward Co. jail and bond is set at $100,000.