My first year as a student brings back a lot of interesting memories. I think the most important aspect of making a first year student's expereince better is companionship. I felt really comfortable with my mentors, and I felt like they did their best to help me get used to things. The ones that had been on teams always seemed happy to explain things at competition or during build season that myself and other first years didn't know. The ones that hadn't been on teams were always pretty willing to discuss a problem or question and help me find the answer, or even just to listen.
However, my team stresses respect. Yes, sometimes people are pretty harsh on new people, but I've noticed that the new people that don't have problems are the ones that really act like they like being there and want to make a genuine effort instead of doing useless stuff. Each month the students and advisors split up for a group forum to discuss concerns. The voices that gain my respect, no matter what year they come from, are those that present a well thought-out and reasonable discussion, whether it is in student forum or in the lab.
Maturity and effort are the mark of a successful 1st year student.