Bidirectional DC-DC converters are one of the most important parts of energy storage systems such as in plug-in hybrid electric vehicle (PHEV), the fuel-cell vehicle, renewable energy system, and uninterruptible power supply (UPS). Energy storage systems are used for storing energy and use it during fluctuations or supply outage. To improve its efficiency a soft-switching bidirectional DC-DC converter using a lossless active snubber is used. In this converter, Zero Voltage Switching (ZVS) of the main switches and Zero Current Switching (ZCS) of the auxiliary switches are always achieved by utilizing an active snubber which consists of auxiliary switches, diodes, an inductor, and a capacitor. In addition, by utilizing this active snubber, there is no reverse recovery problem induced by the poor dynamic performance of the MOSFETs body diode. Moreover, by adjusting according to loads, it is possible to achieve optimized overall efficiency throughout the whole loading range. This system is analyzed by the simulation in MATLAB/SIMULINK 2017. Hardware is implemented using dsPIC30f2010 microcontroller for 20W and 20 kHz and results are verified.