Two men have been charged over the death of Lynette Daley at Ten Mile Beach in northern New South Wales in January 2011.
Ms Daley, 33, died from serious injuries during a camping trip on the beach near Iluka after sex acts were performed on her while she was drunk.
Adrian Attwater, who claimed to be Ms Daley’s boyfriend, and his friend, Paul Maris, went on the camping and fishing trip with the victim.
Ms Daley was found naked, bruised, and bloodied and an autopsy later found she died from blunt force genital tract trauma.
Forensic pathologists found her blood alcohol concentration to be dangerously high, 0.352, in the potentially lethal range of intoxication.
Attwater was previously charged with manslaughter and Maris with manslaughter accessory after the fact.
The coroner referred the matter to the Director of Public Prosecutions (DPP), but neither of the men were prosecuted.
Ms Daley’s family and supporters had criticised the DPP for not prosecuting the two men.
On Wednesday, police confirmed a 42-year-old man was charged with manslaughter and aggravated sexual assault.
A 46-year-old was charged with accessory after the fact to manslaughter and aggravated sexual assault.
Both are due to appear in Grafton Local Court on August 2.
Four Corners investigation prompted independent review
Police videos shown to Four Corners showed Attwater and Maris describe the events that took place in the back of Mr Maris’s four-wheel drive.
The case was reviewed after a Four Corners story aired last month which prompted an independent review of the DPP’s decision not to prosecute the two suspects.