One kid finally got to join us for a camping trip, afterwhich his parents pulled him out of Scouts completely because he had to use... shudder... an outhouse! 
 I'd laugh except that I know you're serious.
And I'm all for getting kids into the outdoors.  My daughter (yes, pretty thin excuse for putting up a photo of her, I know).  
 
   
  In all seriousness, I try to let her make some mistakes (hopefully not near 40 foot drop offs!).  And I try to, well, educate her when things don't go well.  She's turning out to be quite the little hiker.
HJ