Participles are tricky little things, but when it comes to agreeing them, all you've got to do is learn the rules – there aren't any pesky exceptions!
Participles agree in gender and number. To form the plural, add an -s; to form the feminine, add an -e. (To form the pl. fem., add an -es.)
1. Agrees with subject – after auxiliary être
• When the participle is used with the auxiliary être, the participle automatically agrees with the subject.
Thus: She fell out of the tree – Elle est tombée de l'arbre or We arrived on time – Nous sommes arrivés (ou arrivées) à l'heure.
2. Agrees with object – when object precedes participle
• This is where it gets complicated. Basically, in phrases such as Il l'a choisi, l' is a pronoun which replaces the object and the object therefore comes before the participle in the sentence. When this is the case, the participle agrees with it.
Thus: She saved them – Elle les a sauvés (ou sauvées) or We ate them (say, the peaches) – Nous les avons mangées (les pêches).
I hope this clears some things up – now get practising!