The purpose of this paper is to present an undergraduate research experience process model and the evaluation of seven years of its application in an undergraduate research program in software engineering. Undergraduate students who participated in research projects between 2015 and 2022 were surveyed to find out a) their motivations for participating in research projects in software engineering, b) the skills they consider they have acquired or improved by participating in those projects, and c) their perception of benefits and utility for their future work and professional activities. Results reveal that participation in real research projects in software engineering is highly valued by undergraduate students, who perceive benefits in the development of research and soft skills, and for their future professional activity. In addition, these undergraduate research projects and the process followed show that it is feasible to make original contributions to the body of knowledge of software engineering.