Chapman describes the crime in his autobiography, which I am pained to admit I have read. The story he tells is basically the one **aldiboronti **recounts. He and a friend went to rob a drug dealer, and the friend ended up shooting and killing the guy. He was convicted of being an accessory because he was present, although the state never argued that he participated in the actual murder. Chapman was sentenced to five years and paroled after 2.
Wanted to add that while some sources (like wikipedia) say that Chapman maintains his innocence, he actually acknowledges his role in that particular crime. He;s also pretty open about his general disregard for the law when he was running with the motorcycle gang.