An energy recovery system for a machine having a movable work tool, a swing motor to swing the work tool about a vertical axis, a pump providing pressurized fluid to the swing motor, a power source outputting power to drive the pump, and a controller. The energy recovery system may include a first accumulator, a swing charge valve selectively connecting the swing motor to the first accumulator, an assist motor operatively connected to the power source, and a discharge selectively connecting the first accumulator to the assist motor. The swing charge valve may fluidly connect the swing motor to the first accumulator when fluid pressure from the swing motor is greater than a charge set pressure. The controller may cause the discharge valve to fluidly connect the first accumulator with the assist motor when the power demand on the power source is greater than a minimum assisted power demand.