A control arm linkage system includes a pair of upper control arms and a pair of lower control arms to attach a crop harvesting header to a harvester frame of an agricultural harvester. The attachment of the header to the harvester via the control arm linkage system allows the header to move relative the harvester, with the header being displaced upward and heeled backwards in response to an upward force being imparted onto a lower surface of the header. The control arm linkage system thus allows the header to automatically adjust and adapt to unexpected raised mound that may be encountered along the path of the header during harvesting.