With more and more college students actively seeking psychological support, it is increasingly important to strengthen the cultivation of their ability to help others psychologically. This can not only effectively improve the mental health level of college students, but also promote the development of peer psychological mutual assistance among students, creating a positive and upward campus atmosphere. Objective: To explore the intervention effect of experiential teaching on college students’ empathy ability, self-efficacy in dealing with psychological issues, and psychological helping ability. Method: Recruit 42 psychology enthusiasts and randomly assign them to the experimental group and the control group. The experimental group received a six week continuous experiential teaching intervention, once a week for three hours each time, while the control group did not receive any intervention. Conduct pre-test and post-test using the Empathy Scale, Self-Efficacy Scale for Handling Psychological Problems, and Psychological Assistance Scale. Result: After the intervention of experiential teaching, the scores of empathy ability, self-efficacy in dealing with psychological issues, and psychological helping ability in the experimental group were significantly higher than those in the pre-test of the experimental group and the post-test of the control group. Conclusion: Experiential teaching can effectively improve the empathy ability, self-efficacy in dealing with psychological problems, and psychological helping ability of college students.