It happened Saturday around 6:00 p.m. in the 400 block of Fir Street.
The boy told police he was riding his bike to a friend's house near Sunnemeade Avenue when a small white box truck pulled up behind him.
The driver, described as a 50-year-old white man with grey hair wearing a blue shirt, yelled at the boy to "come over and get in my truck."
The boy kept on riding and the driver followed him the entire way while honking his horn.
Anyone with information about this incident is urged to call Warminster Police at 215-672-1000 or 215-443-5000.