Abstract: A system is described for efficiently driving a pipe or pile into the ground. The resonant frequencies of the pile are determined, and a hydraulic actuator is controlled to apply a series of time-spaced shocks to the top of the pile, where each shock has a duration and form tuned to maximize the response at a given resonance. Such shocks result in a greater velocity of the pile at its lower end, than from very short duration shocks such as those of a hammer. In certain soils the hydraulic actuator applies resonant continuous sinusoidal vibrations to the pile, and, upon completion of installation, a refusal test of the installed pile is conducted by applying very brief and spaced shocks by the actuator that simulates hammer blows. Underwater pile driving by a hydraulic actuator avoids the need for additional special watertight structures for the apparatus.