My own (limited) experience with camping was going to Sequoia National Park a couple of times. Being a camping newbie, I was relieved to find that it was basically RV camping. We drove up to the campsite with our cars, and just pitched our tents in the designated spots next to where our cars were parked. There were actual bathrooms, there was a pay shower stall located near the ranger station which was about a quarter-mile from our campsite, there was running water spigots at nearly every campsite, and believe it or not, even a small general store in which anything you may have forgotten to pack could be purchased.
So for me, this was the perfect intorduction to camping, since it was convenient, safe, and relatively comfortable, while still enjoying the grandeur of the outdoors. My son and I had a great time, as did the rest of our family. I would definitely recommend camping at this kind of site if some of your family members are squeamish about bathing in shower stalls or having to use the bathroom in the woods.