An engine includes pistons, a crankshaft, cylinders, an intake manifold, an exhaust manifold, intake valves, exhaust valves, a fuel rail, and an Electronic Control Unit (ECU). The ECU coordinates operations of the intake valves, the exhaust valves, and the fuel injectors based upon a position of the crankshaft to control the engine to operate in two modes. The two modes include a typical engine operating mode and a rebreathe engine operating mode. The typical engine operating mode includes the ECU controlling the exhaust valves to be actuated after the intake valves are actuated. The rebreathe engine operating mode includes the ECU controlling the exhaust valves to be actuated both during and after the intake valves are actuated. The ECU also controls a Start of Injection (SOI) of the fuel injectors to be retarded during the typical engine operating mode and to be advanced during the rebreathe engine operating mode.