Counselor education pedagogy entails multiple unique instructional modalities, including supervision, group counseling, and skills instruction. Counseling programs often include courses such as practicum and internship, which embed experiential learning throughout the curriculum. However, little is known about the motivations and perceptions counselors-in-training hold for experiential learning. Thus, there is a need to explore learners' perceptions of an experiential learning experience on their knowledge and skills and to identify the learners' motivation to participate in experiential learning activities. Twelve counselors-in-training were surveyed after volunteering at a month-long STEM summer camp for middle school students. The Experiential Learning Survey was used to assess counselors-in-training's perception of experiential learning. A modified version of the Self-Regulation Questionnaire was also used to determine motivations for volunteering for experiential learning activities. Based on the findings, counselors-in-training had a favorable perception of experiential learning and reported intrinsic motivation as the main factor influencing volunteerism.