We do it every other weekend. We have a travel trailer and also tent camp. My two love it.
Just pack a bag for the dogs same as packing for yourself or the skin kids. The x pen with extra panels would work best in your situation, and it's not really hard to find campsites that allow pets. Here in Pa. even a lot of state parks allow pets. We would camp with three kids and three dogs. We took the x pen, one large crate,harnesses and leashes,food and water, clothes, meds,brushes,combs, etc... Sometimes water they are not used to can upset their tummy so we always brought water from home. I would highly recommend camping with your fur babies. It's a great way to spend quality time with the family, skin kids and fur kids will both enjoy it.
