Systems and methods for operating an engine include controlling a temperature of recirculated exhaust gas to achieve a predetermined recirculated exhaust gas temperature. A mixture of air and temperature-controlled recirculated exhaust gas are admitted in a combustion chamber and a gaseous fuel injector delivers gaseous fuel during an intake stroke. A diesel fuel injector is activated for a first time to deliver a pre-pilot diesel quantity directly into the combustion chamber at an early stage of a compression stroke, and is activated again for a second time to deliver a pilot diesel quantity directly into the combustion chamber at a later stage of the compression stroke. A total air/fuel ratio within the combustion chamber upon completion of the second diesel fuel injector activation is lean. The air/fuel mixture is combusted during a combustion stroke, and combustion products are removed during an exhaust stroke.