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I did a 3 angle valve grind on my valve seats and got seats pressed into the exhaust. My question is do I need to lap in my valves and how would I go about doing so.
No you don't need to lap the valves however if you didn't get your valves ground have them ground at an angle that is one degree smaller than the seat angle i.e. a 45 degree seat and a 44 degree valve. FYI valve grinds are desireable even with brand new valves
OK if your really not sure I'd take it to a Machine shop and let them do it ... You have to make sure the angles are right and the installed spring height is right with the seat pressure....
Lapping will do a finishing job on seating the valves. If the angles are way off etc, it wont help. It wouldnt be a bad idea to lap them just to make sure they will seal before you put it all together. Sometimes machine shops arent perfect, and its so simple and quick why not?
Sure lapping can help on a rare occasion but it's also a better way to screwing up a good valve job. To check the valves for sealing get some perusian blue, it comes in a tube and you coat the face of the valve with it and then smack it against the seat, if the seals are good their should be a line around the valve a few thousands in from the edge.
I agree with shazam thought, if your not real sure on how to do this stuff let someone else do it or learn how to do it before trying.