The engine was driven from Larne fire station at about 04:00 GMT on Saturday and crashed into cars and houses a short time later.
Robert Duffin, 66, from Green Link in Larne, appeared at Coleraine Magistrates' Court on Monday facing five charges linked to the incident.
Ross Clarke, 19, from Fairway in Larne, also appeared, accused of 14 offences.
He faces charges including burglary, aggravated vehicle taking, causing damage and various motoring offences.
The pair were remanded in custody to appear again on Thursday at Ballymena Magistrates' Court, when it is expected a bail application will be made.
Two men have been remanded in custody over the theft of a fire engine in County Antrim.