A driver reported seeing the group jump into the uncovered drainage hole early Saturday morning.
Border Patrol agents used a robotic camera to capture images of the people sitting inside the 30-inch pipe Saturday night. There were two women, five men and a teenager.
They then entered three storm drains about 100 yards west of the border station to reach the group, agents said.
The group was not injured, just dehydrated and hungry so agents gave them food and water. One of them was arrested and charged with re-entry after deportation.
A 16-year old boy was turned over to the Mexican consulate, agents said.
The remaining six people all undocumented Mexican nationals, were returned to Mexico.