diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0862e1fe0..331bcc30a 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1150,18 +1150,20 @@ static void retract_z_probe() {
 }
 
 /// Probe bed height at position (x,y), returns the measured z value
-static float probe_pt(float x, float y, float z_before) {
+static float probe_pt(float x, float y, float z_before, int retract_action=0) {
   // move to right place
   do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
   do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
 
 #ifndef Z_PROBE_SLED
-  engage_z_probe();   // Engage Z Servo endstop if available
+   if ((retract_action==0) || (retract_action==1)) 
+     engage_z_probe();   // Engage Z Servo endstop if available
 #endif // Z_PROBE_SLED
   run_z_probe();
   float measured_z = current_position[Z_AXIS];
 #ifndef Z_PROBE_SLED
-  retract_z_probe();
+  if ((retract_action==0) || (retract_action==3)) 
+     retract_z_probe();
 #endif // Z_PROBE_SLED
 
   SERIAL_PROTOCOLPGM(MSG_BED);
@@ -1750,7 +1752,22 @@ void process_commands()
                   z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
                 }
 
-                float measured_z = probe_pt(xProbe, yProbe, z_before);
+                float measured_z;
+                //Enhanced G29 - Do not retract servo between probes
+                if (code_seen('E') || code_seen('e') )
+                   {
+                   if ((yProbe==FRONT_PROBE_BED_POSITION) && (xCount==0))
+                       {
+                        measured_z = probe_pt(xProbe, yProbe, z_before,1);
+                       } else if ((yProbe==BACK_PROBE_BED_POSITION) && (xCount == AUTO_BED_LEVELING_GRID_POINTS-1))
+                         {
+                         measured_z = probe_pt(xProbe, yProbe, z_before,3);
+                         } else {
+                           measured_z = probe_pt(xProbe, yProbe, z_before,2);
+                         }
+                    } else {
+                    measured_z = probe_pt(xProbe, yProbe, z_before);
+                    }
 
                 eqnBVector[probePointCounter] = measured_z;
 
@@ -1781,15 +1798,30 @@ void process_commands()
 #else // AUTO_BED_LEVELING_GRID not defined
 
             // Probe at 3 arbitrary points
-            // probe 1
-            float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
+            // Enhanced G29
+            
+            float z_at_pt_1,z_at_pt_2,z_at_pt_3;
+            
+            if (code_seen('E') || code_seen('e') )
+               {
+               // probe 1               
+                z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING,1);
+               // probe 2
+                z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,2);
+               // probe 3
+                z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,3); 
+               }
+               else 
+               {
+	        // probe 1
+	        float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
 
-            // probe 2
-            float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
-
-            // probe 3
-            float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
+                // probe 2
+                float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
 
+                // probe 3
+                float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
+               }
             clean_up_after_endstop_move();
 
             set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);