Susana Casillo was taken to Massachusetts General Hospital, where she died from her injuries, according to the Middlesex district attorney’s office. The crash occurred at the intersection of Market and Columbia streets.

Authorities allege Sosa Samura, 41, first backed into another vehicle on Main Street around 11:40 p.m., damaging it, then drove away. The driver of that vehicle followed as Samura traveled along several streets, officials said. On Market Street, a one-way road, Samura allegedly drove against traffic before the collision with Casillo’s vehicle.

Police who responded reported that Samura had glassy eyes, slurred speech and smelled of alcohol. She was arrested at the scene.

Samura faces charges including motor vehicle homicide while operating under the influence, operating under the influence as a second offense, and operating under the influence causing serious bodily injury. Other charges include assault and battery with a dangerous weapon, assault with a dangerous weapon, leaving the scene of property damage, reckless operation, speeding and improper operation of a motor vehicle.

She was arraigned Tuesday and ordered held pending a dangerousness hearing scheduled for Oct. 27. Information about an attorney representing her was not immediately available.

The Middlesex district attorney’s office, Cambridge police and Massachusetts State Police are investigating both the fatal crash and the earlier collision. The allegations have not been proven in court.