The five accused -- bus driver Ram Singh, his brother Mukesh, Vinay Sharma, Pawan Gupta and Akshay Thakur -- were produced before Metropolitan Magistrate Namrita Aggarwal, who conducted the proceedings in-camera.
The five accused are at present in judicial custody. The case of the sixth accused - a minor - is being heard by a Juvenile Justice Board.
The victim, a paramedical student, was brutally raped and assaulted in a moving bus here on the night of December 16, 2012 and she died of injuries on December 29 in a Singapore hospital.
The court on January 5 had taken cognisance of the charge sheet against five of the accused yesterday under sections 302 (murder), 307 (attempt to murder), 376 (2)(g) (gangrape), 377 (unnatural offences), 395 (dacoity), 396 (murder in dacoity), 394 (hurting in dacoity), 201 (destruction of evidence), 120-B (conspiracy), 34 (common intention) and 412 (dishonestly receiving stolen property) of the IPC.
Meanwhile, the court issued notice to the Delhi Police to file its response on an allegation by an advocate that the police and the Safdarjung Hospital were "negligent" in dealing with the case and the victims.