An exhaust gas recirculation (EGR) system for use in a four-stroke, internal combustion, compression-ignition engine having at least one engine cylinder, at east one combustion chamber, at least one intake valve and a crankshaft. The EGR system includes at least one exhaust gas intake valve that is opened during at least a portion of an engine intake stroke when the exhaust gas pressure is greater than the pressure of gas in the combustion chamber, thus allowing exhaust gas to flow into the combustion chamber to establish internal EGR. A cam-operated intake rocker arm assembly has the form of both a first class lever and a second class lever. The first class lever directly communicates motion of the intake rocker arm assembly to open the intake valve, and the second class lever communicates motion of the intake rocker arm assembly through a hydraulic transfer assembly to open the exhaust gas intake valve.