We just went camping for 7 days over Christmas. Kids just loved it! Baby had a hard time as it was so light when trying to put her to sleep.
I would suggest for first timers camping to stay at a caravan park at a powered site. That way you have toilets, showers and even a laundry. They usually have playgrounds, etc so the kids are entertained as well.
Are you in vic? I can suggest a few places to go to.
I will see if I can upload a pic of our recent trip..that way you can see all our stuff!