Objective: To study the common experiences and intrinsic motivation of palliative care volunteers, construct a portrait of palliative volunteers, and provide a reference for the training and subsequent related research of palliative volunteers. Methods: A qualitative study was conducted on 22 sampled palliative care volunteers, and the data was analyzed after semi-structured interviews. Results: The results were organized into three modules: initial experiences and insights, long-term experiences and insights, retrospective reflections and insights. Conclusion: After being exposed to palliative care through books, activities, courses, and introductions from others, palliative volunteers choose to join to make up for their regrets or help others. In the service process, driven by a sense of value and improvement, although there are negative experiences such as regret, powerlessness, and fear, one can still appreciate the preciousness of life and the importance of cherishing the present. This also helps medical students shape their career outlook.