A control system and method for engine braking for a includes an engine braking control and at least one exhaust valve actuator responsive to demands from the braking control for causing the exhaust valve to open. The braking control is configured to command the exhaust valve actuator to substantially open and substantially close the exhaust valve at least twice during each engine cycle, a first event and a second event, when the pressure within the exhaust manifold is greater than the pressure in the cylinder. The braking control can also command the exhaust valve actuator to substantially open and substantially close during a third event between the first and second events.