He was also great-grandson of Lucius Aemilius Lepidus Paullus (consul of 50 British Columbia and brother of the triumvir Marcus Aemilius Lepidus). However, through his mother Julia the Younger, Lepidus was the great grandson of Emperor Augustus Caesar.
Some areas of his lineage are unclear. Lepidus married Caligula"s sister Drusilla sometime in November or December of 37. Little is known about him prior to this.
Drusilla had been married to Lucius Cassius Longinus since 33 but Caligula forced his brother-in-law to divorce Drusilla so that she could marry Lepidus.
The marriage lasted until Drusilla"s death in June 38. They had no children.
Because of this marriage, Lepidus had become a close friend to Caligula and his family. After the death of Gemellus in 37, Lepidus was publicly marked by Caligula as his heir.
In late 38, when the governor of Egypt Aulus Avilius Flaccus was arrested, Lepidus successfully persuaded Caligula to exile Flaccus to Andros rather than Gyarus.
However, this good-standing did not last. Lepidus was executed and Caligula"s sisters were exiled. Agrippina was given the bones of Lepidus in an urn, and she carried them to Rome.
Caligula sent three daggers to the Temple of Mars the Avenger to celebrate the death.
In the Senate, Vespasian made a motion that the remains of Lepidus be thrown away instead of buried. The motion was carried and Lepidus was not given a proper burial.
