Help kids succeed at worthwhile achievements after they've given up

I despised the Boy Scouts growing up. It sounded like a great program, but the boys were unkind and the challenges didn’t seem to offer an equitable reward. The best part about the Boy Scouts was escaping them.
But two years ago I was invited (coerced?) to escort some Boy Scouts into the Idaho wilderness for a couple of days of difficult hiking and camping. This trip was amazing, the hardships quickly swallowed up in the fellowship with those boys and the scoutmaster, the beauty of the mountains and wildlife, the thrill of the success when it was over. What am amazing experience. There were a couple of times the boys lost heart, it felt so great strengthening them and encouraging them to go on. It would have been a disaster without the experienced scout master, maybe I had lousy scoutmasters growing up? Those boys had their self esteem increase, their personal views expanded, everyone should get that opportunity.