Background: Youth who have experienced cancer face challenges that include social isolation, increased psychological risks, and developmental interruptions. Adventure therapy may offer a tool to enhance resilience for this population. Purpose: This study sought to understand how adolescents with lived experiences of cancer perceive and experience their participation in a wilderness-based adventure therapy program. Method: This study used a mixed methods design with a qualitative thematic analysis of semi-structured interviews and quantitative descriptives and independent sample t-tests of Adventure Therapy Experience Scale (ATES) scores to assess two cohorts of youth ( n = 17), ages 13–17, who participated in the See You at the Summit program. Findings: Five themes emerged from the data; social support/connection, choice/autonomy, psychological growth/emotional development, overcoming challenges, and time in nature. Quantitative results found the highest impact on the ATES Interpersonal and Nature subscales and the lowest with challenge. There were significant differences between younger and older participants on engagement in nature. Implications: Triangulation between qualitative themes and ATES scores offered insight into participant perspectives of the impact of the adventure therapy experience. Practice implications include the need for programs that promote social support, choice and autonomy, and time in natural settings.