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High adventure camp experiences can teach life skills and promote positive outcomes in adolescents. This mixed-method study aimed to examine the experiences of urban youth in a three-day high-adventure camp to investigate the quality of the program based on PYD principles, and the potential personal growth reported by young people. Participants were youth in a career-oriented afterschool program and youth living in U.S. Housing and Urban Development neighborhoods. They completed surveys prior to the event and at the completion of the camp. Throughout the study, researchers also conducted small-group interviews with youth participants. We identified significant gains for youth in the areas of a sense of belonging, positive peer relationships, positive relationships with event staff, and engagement in activities.