Experiential learning is key to supporting students in applying theory to new scenarios, to develop higher order thinking and decision-making for life-long learning and employment. Experiential learning can occur in different formats, from short games as part of a lecture or seminar, to extensive computer-based simulations running over many weeks. As technology develops, these simulations are becoming more immersive through the application of Virtual Reality (VR) and Augmented Reality (AR) technology, especially in the fields of engineering and medicine. In this chapter, we demonstrate many benefits to fostering experiential learning environments—driven by the subject matter, the students, and the intended learning outcomes—but also consider the accompanying challenges.