An experimental study was performed to investigate the characteristics of combustion pressure and exhaust emissions when the pilot injection timing and EGR rate were changed in a CRDI 4-cylinder diesel engine. The pilot injection timing and EGR rate have a significant impact on the combustion and emission characteristics of diesel engine. In this study, the pilot injection timing and EGR rate variation were conducted to 2000rpm of engine speed with torque 50Nm. Combustion pressure and heat release rate were decreased under high EGR rate conditions but increased under the pilot injection timing $20^{circ}$(BTDC). IMEP and the maximum pressure in cylinder(Pmax) were decreased under the same injection timing with the increase of EGR rate. The NOx emission was decreased with increasing the EGR rate. On the other hand, in the same injection timing conditions, CO, HC, $CO_2$ emissions were increased with increasing the EGR rate.