A soil penetrating apparatus having an automatic tool (e.g., aerator tine) depth control system and method. The system includes an actuator that sets and controls tine depth, a sensor that monitors tine depth, and a controller that controls the actuator in response to the sensor. In some embodiments, the actuator is a hydraulic actuator, wherein once tine depth is set, flow to the actuator is bypassed. A relief may be provided to allow the tines to lift to a shallower depth temporarily when soil hardness exceeds a threshold. The system may then automatically return the tines to the pre-selected depth once soil conditions permit.