Schlieren visualization was performed to investigate hydrogen injection into a quiescent chamber. The injection pressures investigated were 52 and 104 bar, and the chamber density ranged from 1.15 to 12.8 kg/m3, giving rise to underexpanded jets for all conditions. The expansion waves outside the nozzle were clearly visible with hydrogen, and the effect was confirmed with studies of nitrogen injected into a nitrogen environment. The distance between the expansion wave fronts was found to scale directly with the ratio of the exit pressure to the chamber pressure. The jet tip penetration rate was measured and was found to increase with injection pressure, and decrease with chamber density as expected. A mass- and momentum-preserving scheme was developed to relate the underexpanded jet to a subsonic jet of larger diameter. The jets were found to exhibit self-similar behavior in the far field when the appropriate characteristic length and time scales were used for the nondimensionalization.