Background: The cultivation of caring competencies in nursing education is a significant predictor of their ability to provide compassionate care as professional nurses. Empathy is an essential prerequisite for providing humanistic care and must be considered a vital element of humanistic care education and training. Objectives: This research was conducted to assess the effect of integrating empathy mapping with scenario-based teaching to improve empathy and humanistic caring competency in nursing undergraduates. Design: It is a randomized controlled study conducted from September 18, 2023, to January 1, 2024. Participants: This research involved 239 sophomore nursing undergraduates who enrolled in the Fundamentals of Nursing during the fall term of the 2023-2024 academic year. A random number table was used to randomly select Class 4 (n = 60) to the control group and those from Class 2 (n = 60) to the experimental group. Methods: Researchers administered demographic questionnaires, the Jefferson Scale of Physician Empathy for Nursing Students, and the Caring Ability Inventory to participants in both the control and experimental groups to collect data before and after intervention. The control group had conventional nursing skills training, adhering to a standardized sequence of demonstration, practice, and final evaluation. The experimental group was instructed utilizing an integrated approach that encompassed scenario-based learning and empathy mapping. Results: The figures for empathy and humanistic caring ability in the experimental group were significantly higher than in the control group (p < 0.05) after intervention. The experimental group exhibited notable improvements in both empathy (t = -2.544, p = 0.014) and humanistic care capacity (t = -4.170, p < 0.001) when comparing the scores before and after intervention. Conclusions: Integrating empathy mapping with scenario-based teaching is indicated as an effective way to cultivate a more empathic and compassionate attitude among nursing students.