A day after Judge Judge Juan Merchan threatened to remove him from the witness stand, former federal prosecutor Robert Costello will resume his testimony this morning as the second witness in Donald Trump's defense case.

Costello is expected to be the final defense witness before Trump's lawyers rest their case today.

Yesterday, Costello told jurors about his meetings and phone calls with Michael Cohen in 2018 after FBI agents raided his office and hotel room. Costello advised Cohen and helped pass messages to the Trump, according to Cohen, but never formally represented him as his lawyer.

"Michael Cohen said, numerous times, that President Trump knew nothing about those payments, that he did this on his own, and he repeated that numerous times," Costello testified about the hush money payment to adult film actress Stormy Daniels that sits at the center of the case.

Cohen told the jury that he lied to Costello about Trump's involvement in the scheme to use hush-money payments to hide information from voters.

Costello's reactions to Judge Merchan after taking the stand yesterday afternoon -- responding "jeez" to a sustained objection, rolling his eyes at the judge, and appearing to staring him down -- prompted Merchan to clear the courtroom before threatening to remove Costello from the witness stand.

While defense lawyers suggested yesterday that they would not call Trump to the witness stand, they will likely have to confirm a final decision about the defendant's testimony -- or lack thereof -- before they rest their case.

Judge Merchan has scheduled a charge conference at 2:15 p.m. ET to hear arguments over how to instruct the jury about the law in the case.

Donald Trump, exiting the courtroom, commented on the chaotic scene this afternoon when Judge Juan Merchan cleared the courtroom so he could admonish defense witness Robert Costello.

"A totally conflicted judge who just did something that nobody's ever seen -- and the press is not happy -- I don't imagine they just got thrown out of the courthouse. Nobody's ever seen anything quite like it," Trump said.

Trump also said he was unhappy that the judge decided to limit the testimony of the defense's expert witness on election law.

"We're not allowed to put it in an expert witness," Trump said. "Nobody's ever heard of it before. You know, election law is very complicated, actually."

-ABC News' Kelsey Walsh and Mike Pappano

Responding to the defense's motion to dismiss the case, prosecutor Matthew Colangelo Colangelo argued that Trump, at a minimum, can be found responsible for the actions of his accomplices if he set the action into motion.

"At minimum a rational jury can conclude beyond a reasonable doubt that they all contained false information," Colangelo said of the business records that recorded Michael Cohen's hush money repayment as legal expenses.

Trump, at the defense table, jotted down notes as Colangelo spoke.

"The trial evidence overwhelmingly supports each element of the offense," Colangelo argued.

Defense attorney Todd Blanche pushed the theory that Trump has argued since the first days of the trial: How else would Trump describe a payment to his lawyer other than a legal expense?

"It's hard to imagine what book -- how was this supposed to be booked by Ms. Tarasoff," Blanche asked about Trump Organization accounts payable supervisor Deborah Tarasoff.

Judge Merchan said he will reserve his decision on the motion.

Court was then concluded for the day.

The defense made a motion for the dismissal of the case, with defense attorney Todd Blanche telling Judge Merchan, "There's absolutely no evidence the filings were false, the business records were false."

When the invoices for Cohen's payment were sent to the Trump Organization there's no evidence they were entered improperly, Blanche said. "At the start, there is absolutely no false business filings. They're accurate business filings," he said.

Trump looked directly at Blanche as the attorney addressed Merchan.

"There's no evidence that there's any intent to defraud by Mr. Trump in connection to these filings," Blanche argued.

"There are no other crimes," defense attorney Todd Blanche argued about the legal standard in the case -- that Trump falsified business records in furtherance of another crime. "There is no evidence that any one was thinking about a campaign finance charge in 2016 when this payment was made to Ms. Daniels."

"The prosecutors have talked in their opening statement and in papers about some sort of conspiracy to influence the election but as the court knows there has to be something illegal about this effort," Blanche said. "There's no evidence from any of the witnesses who testified of any criminal intent."

"There is no way that the court should let this case go to jury relying on Mr. Cohen's testimony," Blanche said "Without Mr. Cohen, there is no case."

Judge Merchan asked if Blanche was calling for him to rule that Cohen's testimony is "not credible as a matter of law."

"Absolutely, that's exactly what we're calling on the court to do," Blanche replied. "He testified, and he lied under oath -- in this courtroom."

Donald Trump said Wednesday that he didn't take the stand in his hush money trial because he didn't agree with the judge's rulings -- and because he was seemingly worried about information that could have come out during cross-examination.

"He made rulings that makes it very difficult to testify," Trump said in an interview on WABC Radio, referring to Judge Juan Merchan. "Anything I did, anything I did in the past, they can bring everything up, and you know what, I've had a great past -- but anything."

"The other reason is because they have no case," Trump said. "In other words, why would -- why testify when they have no case?"

Trump had originally indicated he would testify, saying on April 12 that "I would testify, absolutely." But he subsequently appeared to back away from the idea, falsely telling reporters on May 2 that the limited gag order in the case -- which prohibits extrajudicial statements about witnesses and jurors -- prevented him from testifying.

The next day in court, Judge Merchan directly addressed Trump to clarify that he has an "absolute right" to testify and that the limited gag order does not apply to his statements in court.

"I want to stress, Mr. Trump, that you have an absolute right to testify at trial, if that is what you decide to do after consultation with your attorneys," Merchan said.

-Lalee Ibssa, Soo Rin Kim and Kelsey Walsh