Using precise relative astrometry from the Hubble Space Telescope and the W. M. Keck Telescope, we have determined the orbits and masses of the two dynamically interacting satellites of the dwarf planet (136108) Haumea, formerly 2003 EL61. The orbital parameters of Hi'iaka, the outer, brighter satellite, match well the previously derived orbit. On timescales longer than a few weeks, no Keplerian orbit is sufficient to describe the motion of the inner, fainter satellite Namaka. Using a fully interacting three-point-mass model, we have recovered the orbital parameters of both orbits and the mass of Haumea and Hi'iaka; Namaka's mass is marginally detected. The data are not sufficient to uniquely determine the gravitational quadrupole of the nonspherical primary (described by J ₂). The nearly coplanar nature of the satellites, as well as an inferred density similar to water ice, strengthen the hypothesis that Haumea experienced a giant collision billions of years ago. The excited eccentricities and mutual inclination point to an intriguing tidal history of significant semimajor axis evolution through satellite mean-motion resonances. The orbital solution indicates that Namaka and Haumea are currently undergoing mutual events and that the mutual event season will last for next several years.