David Holmes, 58, of South Brunswick, a teacher at the Woodrow Wilson Elementary School in New Brunswick, was arrested Wednesday.
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Authorities say Holmes engaged in inappropriate sexual conduct with a 15-year-old student from September 2018 through July 2019.
He was a former teacher of the victim and was serving as a mentor at the time.
Holmes was charged during an investigation by the Middlesex County Prosecutor's Office and New Brunswick Police.
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He is charged with endangering the welfare of a child, aggravated criminal sexual contact and engaging in criminal sexual contact.
Holmes has been employed by the New Brunswick School System for the past nine years.
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