We both have magical childhood memories of family campouts, and as adults and moms, we still adore sleeping outdoors. In fact, as authors of a campground guidebook, we've visited some 250 campgrounds ... twice! When we pile our two families into the car, the kids just assume we'll be bunking in a tent.

A family camping trip is the most relaxing, laid-back outing you can take - when it's properly planned. (When it's not, well, you may be awake at 3 a.m. longing for a Motel 6.) It's also an ideal way to introduce your kids to the wonders of the great outdoors beyond the backyard. Oh, and there's one other major plus: camping is the best travel deal going. The average cost of a campsite is a fraction of a typical hotel room rate.

For first-timers, camping can seem intimidating, but here are some strategies for introducing your family to the fun.

Rent or borrow before you buy. Before you invest in camping equipment, see if you can borrow the basics (such as a tent and stove) from friends or relatives. You can also rent equipment from some local sporting goods shops. Or check out online rentals at LowerGear (lowergear.com). Do a backyard campout first. You'll want to get comfortable with setting up the tent, and you'll discover whether anyone is really unhappy sleeping outside in the dark. You'll also learn what you need to sleep well - perhaps warmer clothes and an extra pillow or two.

Choose the right campground. You may be eager to try a rustic wilderness spot, but take it from us: start slow. For your first time, pick a campground with amenities such as a swimming pool and bike rentals. Also, be sure to reserve ahead. Try Reserve America (reserveamerica.com), the central booking site for many campgrounds. How to avoid camping next to an all-night keg party? Select a spot with 24-hour security, so you can report anything out of the ordinary. Before you go, get recommendations from other parents on their favorite campgrounds (or see our list in this article). You can also request a site near the "campground host" or manager.

Arrive early to get the lay of the land. Plan your trip so you get to the campground well before dark. You'll have plenty of time to set up the tent in daylight and cook dinner on the campfire (plan an easy meal for your first night), plus you can do a walkabout with the kids. Visit the restrooms and wander the campground a bit, so the surroundings will be familiar when darkness falls.

Get kids involved in camp chores. Even young children can gather kindling for the campfire or spread a tablecloth on a picnic table. We've discovered that the same kids who dread helping at home are worker bees when we go camping.

Keep it clean. Store food in airtight containers and dispose of all waste scraps properly, so as not to attract wild animals to the campsite. Camping is a great opportunity to introduce kids to Leave No Trace principles, found on the Appalachian Mountain Club Web site, at outdoors.org.

Enrich the experience. Plan fun, simple activities, such as making popcorn, reading a short story, or singing songs by the campfire. We like to bring an astronomy book for identifying constellations. Be sure to pack a selection of games and books for rainy weather. And don't forget your camera (packed in a waterproof case or plastic bag), for taking lots of shots of your happy (if somewhat grubby) campers.