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.
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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.