Twenty-three-year-old Hector Torres Jr. and a 17-year-old boy were charged with involuntary manslaughter, homicide by vehicle, accident death no-license and aggravated assault by vehicle.
Police say the investigation and surveillance video revealed the striking vehicle was involved in a street race for numerous blocks leading up to the crash.
They say the driver had no regard for any vehicles or pedestrians.
This led to the description of the second racing vehicle, which was driven by Torres, police say.
Torres surrendered to police.
Three-year-old Esther Palmer died after being struck around 7:15 p.m. on Monday, Aug. 8, at 2nd and West York streets.
Police say the 17-year-old was driving a Honda Accord, traveling southbound at a high rate of speed on 2nd Street, when he smashed into the family's Honda Civic that was traveling westbound on York Street.
Three-year-old Esther was launched from the back of the Civic.
The child's 43-year-old mother, who was driving, and her grandmother were also injured.
The child was rushed to St. Christopher's Hospital for Children where she was pronounced dead.
The 17-year-old driver was taken to Temple University Hospital where he was treated and released.
Because of his age, his name is not being released.