Gaither has been charged with one count each of first-degree burglary, common law robbery, and larceny of a motor vehicle.
The burglary and robbery charges are related to a home invasion that occurred around 5 a.m. Sunday on Wallingford Drive.
The larceny charge is related to the theft of a GMC Envoy that was involved in the wreck a short time after the crime.
Gaither turned himself in around 7 p.m. Monday. He was taken to the Wake County Jail.
Raleigh police said they were still investigating the details of Sunday morning's events which resulted in the death of 20-year-old Elezar Brache Herrera, of Raleigh. They have not said if there is a connection between the robbery and the homicide.
Police said Herrera, who was apparently acting as a good Samaritan, was fatally stabbed following an altercation that ensued after a SUV crashed in the 4900 block of New Hope Road.
Authorities are asking anyone with information about the three incidents to contact Raleigh Crime Stoppers at (919) 834-HELP.