(Indianapolis, Ind.) - A day after being arrested on a charge of public indecency, Andrew Miller has resigned as the commissioner of the Indiana Bureau of Motor Vehicles. 

Andrew Miller

The former commissioner was arrested after allegedly being found masturbating in a public restroom stall and asking an undercover officer to touch him. 

Governor Mitch Daniels has appointed R. Scott Waddell to succeed Miller. 

"Andy Miller has been an exceptional public servant. Indiana farmers, flood victims, motorists and taxpayers in general all have benefited from his hard work and leadership in three important capacities," the governor said in a statement Thursday.

"I also know him to be a devoted father to three children, including one saved from cancer by Riley Children’s Hospital, for which Andy in turn has raised substantial funds in gratitude. If things are as reported, the law must be respected, but either way this is just an extremely sad situation."

Miller was released from the Marion County Jail Wednesday night after posting $150 bond on the misdemeanor charge.