Booker, who has a nettlesome relationship with Lautenberg, issued a statement praising him.
"Sen. Frank Lautenberg has been a champion for the people of New Jersey for decades and his legacy of service will improve the lives of all American's for years to come," Booker said.
Associated Press writers Andrew Taylor in Washington, Katie Zezima in Newark and Geoff Mulvihill in Mount Laurel contributed to this report.
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