I took Triss camping with us last year when she was still a puppy (after she got her shots of course). She did great! At night, she would curl up with me on the air mattress. I put an old blanket on the grass and put her xpen over it for her to play in a spot she could see me. I plan on taking her again this year.
If you use monthly flea applications, I would make sure to get the ones that cover ticks too over the camping months. Also, check them over really well with a flashlight before you bring them in the tent or they could bring ticks in to feast on you.
