Reversible audio watermarking (RAW) is a promising technique in various applications. To simultaneously meet the demand of achieving high imperceptibility and robustness, this paper proposes a novel RAW scheme based on lattices. The scheme is referred to as Meet-in-the-Middle Embedding (MME), in which the lattice quantization errors are properly scaled and added back to the quantized host signals. Simulations show that MME excels in a wide range of metrics including signal-to-watermark ratio (SWR), objective difference grade (ODG), and bit error rate (BER).