Many viruses utilize ATP-powered motors to package DNA into viral capsids. Here we use single DNA manipulation with optical tweezers and rapid solution exchange to interrogate the dynamics of DNA gripping by the phage lambda motor. Binding of poorly hydrolyzed ATP analogs results in persistent gripping and when slips occasionally occur, the release velocity is very slow, indicating significant friction between the motor and DNA. ADP induces more frequent transitions between gripping and faster slipping. Independent of nucleotides, an “end clamp” mechanism arrests slipping when the end of the DNA is about to exit the capsid. These features are qualitatively similar to those exhibited by the phage T4 motor, although there are some notable differences. Specifically, there are quantitative differences in the DNA grip/release kinetics and their dependence on nucleotides and applied force. But the most striking difference is that there are frequent long pauses during DNA exit from the capsid even in the absence of nucleotides. This pausing occurs at low capsid filling and does not increase with length of DNA packaged, indicating that it is not caused by jamming/knotting of the packaged DNA, but is attributable to fluctuation of apo-state motor subunits into a DNA gripping conformation. This finding supports our previous hypothesis that pauses which are frequently observed during packaging are caused by fluctuation of motor subunits into such conformation. Overall, compared with T4, the lambda motor exhibits stronger interactions with DNA, which may be attributable to the small terminase subunit in the lambda packaging motor complex.