One thing we did last spring (me, wife, 4 daughters) is a "Half Campout". We got a spot at Bull Run Campgrounds and packed the camping gear up and went down before lunch time. Set up the tent, the hammock, the chairs. Had lunch, hiked around, etc. Had a fire in the fire pit, cooked dinner & dessert. The kids got to get familiar with the tent & the whole atmosphere, but we packed it up after sitting around the fire for a while and and came back home around 10:00 (only about a 30 minute drive).

It was good as an introduction (oldest was 8, youngest were 3), without an actual overnight. Gave us a chance to try our gear, learn some safety lessons, & get a feel for camping.