The two were reportedly engaging in a street race with a Nissan driven by 17-year-old John Barrineau.
Herrin was the driver of a Ford Mustang that collided with a mother and daughter on Bayshore Boulevard in 2018, as Herrin, who was then 18, was racing another driver, John Barrineau.
Herrin has left it up to judge to decide what his penalty should be.