Can those charges stick if they don't know who stole it?

A friend of my daughter let her and a couple teens drive a truck he had. We found out that it was stolen she did not know at all because he had keys to it. It was later found with no one in it and wants to charge her for receiving stolen property because she said she drove it. She told them she wasn't aware it was stolen. She just drove it one time but never got caught in it.