According to Eric Evans we do it wrong and he's right
I just started to read Domain-Driven Design by Eric Evans and some part of this book exactly describes what we do wrong at work :
Other projects use an iterative process, but they fail to build up knowledge because they don’t abstract. Developers get the experts to describe a desired feature and then the go build it. They show the experts the result and ask what to do next. If the programmers practice refactoring, they can keep the software clean enough to continue extending it, but if programmers are not interested in the domain, they learn only what the application should do, not the principles behind it. Useful software can be built that way, but the project will never arrive at a point where powerful new features unfold as corollaries to older features.
To avoid what it is described it seems that we need to think about building a strong model with behaviors :
Developing a knowledge-rich model. The objects had behavior and enforced rules. The model wasn’t just a data schema; it was integral to solving a complex problem. It captured knowledge of various kinds.
It will be long and painful to catch up but I think that it worth it.