Systems and methods for actuating engine valves for positive power and engine braking operation are disclosed. The systems may include a self-lashing hydraulic piston slidably disposed in a fixed or rocker arm housing. The hydraulic piston may have an internal cavity in which a motion absorbing piston is disposed. A hydraulic fluid source may communicate with the hydraulic piston bore. A check valve which may be incorporated in a control valve may controls hydraulic fluid supply from the hydraulic fluid source to the hydraulic piston to provide self-lashing operation of the valve actuation system.