Camasco, 23, surrendered to authorities on Thursday. He is currently being held at the Essex County Correctional Facility on $100,000 bail.
"As the investigation progressed facts were developed that warranted the filing of charges,'' said Chief Assistant Essex County Prosecutor Thomas Fennelly, noting the case will still be sent to the grand jury.
Four other people suffered non-life threatening injuries in the Sept. 29 crash.
Lembo was a passenger in one of the two vehicles that collided in Bloomfield. She was taken to a hospital but died there a short time later.
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