We went to Gravel Ponds overnight last night. We set up our tents in the grass, the boys swam and fished and had fun.
I'd have to say it was more like setting up a tent in the backyard (which has its merits) than what some folks might call "real" camping. We didn't have to make sure all the food was in airtight locations to keep the bears out, for instance.
It made me a bit more interested to take my son out for some more remote camping. Hiking along the Appalachian Trail (official site, volunteer group) would be something he'd really enjoy.