Pick a state or national park that does not have steep drop-offs and camp far from water. Kids often do not have good perspective and judgment about heights and water depths. Give them a job! Ask them to collect deadfall sticks for the fire, help with the food prep if possible, kids want to be included. And above all don't forget to tell good stories around the campfire. Kids love to hear about what their parents did when they were young. But please, no scary ghost stories unless you want to stay up all night with them. The sounds of the forest at night might make it difficult for the kids to sleep at first so lull them to sleep with good stories.