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A recursive descent parser is built from a set of mutually-recursive functions, where each function directly implements one of the nonterminals of a grammar. A packrat parser uses memoization to reduce the time complexity for recursive descent parsing from exponential to linear in the length of the input. Recursive descent parsers are extremely simple to write, but suffer from two significant problems: (i) left-recursive grammars cause the parser to get stuck in infinite recursion, and (ii) it can be difficult or impossible to optimally recover the parse state and continue parsing after a syntax error. Both problems are solved by the pika parser, a novel reformulation of packrat parsing as a dynamic programming algorithm, which requires parsing the input in reverse: bottom-up and right to left, rather than top-down and left to right. This reversed parsing order enables pika parsers to handle grammars that use either direct or indirect left recursion to achieve left associativity, simplifying grammar writing, and also enables optimal recovery from syntax errors, which is a crucial property for IDEs and compilers. Pika parsing maintains the linear-time performance characteristics of packrat parsing as a function of input length. The pika parser was benchmarked against the widely-used Parboiled2 and ANTLR4 parsing libraries. The pika parser performed significantly better than the other parsers for an expression grammar, although for a complex grammar implementing the Java language specification, a large constant performance impact was incurred per input character. Therefore, if performance is important, pika parsing is best applied to simple to moderate-sized grammars, or to very large inputs, if other parsing alternatives do not scale linearly in the length of the input. Several new insights into precedence, associativity, and left recursion are presented.