You can now camp with the kids, with no packing, no driving, no paying for campsite rental, no questionable bathrooms, and you can sleep in your own bed.
My kids are 6, 4, 2 and 2, and they had a great time pretend camping. I think camping with them for real would be very unpleasant at this age, and the amount of packing i would have to do would be INSANE! :)
Step 1: Find your campsite.
If you don't have a backyard, you could go pretend camping anywhere: park, playground, you name it.
You don't need a tent. You can just hang up a string and a tarp, or just lay out a blanket and "sleep" under the "stars".