I've done what Bruce suggests to rescue an unrepeatable family photo that was about two or three stops under. Not quite sure what happened on that one, but maybe I forgot to check that the shutter speed or aperture was where I meant for it to be. In any case, I was able to print out a usable neg on Pictorico using my HP B9180 from the original scanned 4x5", and it made a decent 8x10" B&W contact print on Efke Emaks G3.
I don't recall offhand, but I probably also intensified the neg in Kodak Rapid Selenium Toner 1+3, 8 min., before scanning to push up the highlights about one zone, which is what I would normally do with a flat neg.
How much underexposure you can get away with by scanning depends on the film and the developer, but it's another tool in the bag.