The workshop on Applied Verification for Continuous and Hybrid Systems (ARCH) is an annual venue for researchers and practitioners working on automated analysis and verification of hybrid systems. ARCH-COMP is a friendly competition held with the ARCH event. The competition was established in 2017 and aims to explore, document, and push forward the state of the art in the field. It evaluates and compares methods and tools for automated hybrid systems analysis and verification on predefined benchmark problems. It is supported by an active community around several categories of problems, including linear and nonlinear systems, simulation-based and analytic methods, and models from many application domains, such as automotive systems or neural networks. This paper describes the format of the competition and its organization. It documents the experiences and decisions from the current and past editions of the competition and presents reflections and lessons learned. Website: https://cps-vo.org/group/ARCH/FriendlyCompetition