Becoming Foster Parents?

I am looking for people who have fostered before to share their experiences as a foster parent. I have felt strongly about becoming a foster parent since I was a teenager. Now that I am older with 2 children of my own I feel as though there are so many underprivileged and in need youth in America that could benefit from being in a loving foster family as opposed to being in a group home or stuck in a bad situation. With this in mind I just wanted to hear experiences from those who have already done this. What benefits have you noticed both for your own family and for the kids you take in? Do you regret your decision? What advice would you have to someone looking to be a foster parent or to new foster parents in general?