Abstract: A rod-pumping system is provided. In one embodiment, the system includes a downhole pump positioned in a well and coupled to a well string, such as a sucker-rod string. The system also includes a first hydraulic actuator arranged with respect to the well string so as to enable the first hydraulic actuator to move the well string within the well. The first hydraulic actuator is connected in fluid communication with a second hydraulic actuator. A control pump is connected to both the first and second hydraulic actuators to enable the control pump to alternate between pumping control fluid to the first hydraulic actuator to cause the well string to move in a first direction within the well and pumping control fluid to the second hydraulic actuator to cause the well string to move in an opposite, second direction within the well. Additional systems, devices, and methods are also disclosed.