This article focuses on the process of establishing, defining, and making sense of relationships with undocumented college students as co-researchers in participatory action research (PAR). Using memos and narratives with thick descriptions of critical moments that emerged during a qualitative higher education PAR study, the author examines the challenges and opportunities of engaging undocumented college students as co-researchers in all aspects of the research process. Through critical reflections of her positionality as a former undocumented immigrant and role as a critical higher education researcher, the author also provides recommendations for scholars interested in partnering with undergraduate students of minoritized identities as co-researchers in PAR projects and those seeking to humanize research methodologies as they investigate issues related to undocumented students.