The Mentoring Program of the Escuela Técnica Superior de Ingenieros de Telecomunicación (ETSIT) is intended to establish a mechanism based on peer mentoring provided by upper-class students (Mentors) to provide help, support, and resources to incoming first-year students (Mentees). This paper focuses on the experience gained in the creation and development of the ETSIT Mentoring Program during five years. The evolution of the results obtained from the evaluation of various aspects of the ETSIT Mentoring Program, is also presented.