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Grupico, who taught history teacher at the now-closed Cardinal McCarrick High School, New Jersey, was arrested on Thursday for the alleged crime.
According to the Office of the Middlesex County Prosecutor, she has been charged with sexual assault and endangering the welfare of a child.
The prosecutor, Andrew Carey, said the sexual relationship took place in May at the school.
Carey said the investigation is still ongoing.
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WABC reports that Grupico is in custody at the South Amboy Police Department awaiting bail to be set.