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Engineering imposes early challenges to students’ efficacy beliefs, particularly for those underprepared for the mathematics demands of engineering majors. We examined change in non-calculus-ready students’ (N=107) engineering efficacy across a first-semester introduction to engineering reasoning course using Bayesian latent growth curve modeling. We tested the long-term associations between students’ pre-course help-seeking motives, change in efficacy, and indicators of students’ social-academic success. Students’ engineering efficacy increased significantly across the course, and significant individual differences in change in efficacy were observed. Students’ pre-course help-seeking motives predicted initial levels of engineering efficacy. Growth in engineering efficacy was positively associated with end-of-course belonging and mathematics efficacy and end-of-year mathematics grades and GPAs. We consider implications for early, efficacy-promoting curricular supports in engineering.