The Lakeshore Trail at Muddy Run comes off the reservoir in the Susquehanna riverlands and drops back among paved pads under the trees, each with a picnic table and a fire ring. The riverlands trails start at those pads, so the walk and the overnight are the same place. After dinner the fire ring is the evening, with the reservoir still through the trees.
In the morning the same trail goes back to the water. You can give the reservoir a slow day, then keep walking the connecting riverlands paths without moving the van.
Muddy Run Park and Campground is in Holtwood on Bethesda Church Road. Electric and water hookups run to the trailer pads, with no sewer at the site, so you use the dump stations on the way in or out. Reservations and prepayment go through muddyrunpark.com, and a 50-foot hose is worth packing, because the water connection can sit two sites away from your pad.
Hawk Point at Susquehannock State Park is a cliff over the Conowingo Reservoir, with eagles riding the thermals off the water. You walk out to the overlook, watch the reservoir open below, and that is the whole visit. The park has no individual campsites, only a group site, so you still sleep at Muddy Run.
Lancaster County Central Park is the county park next to downtown, and Mill Creek Camping Area looks like a first night on the map. It is tent camping only and cannot take RVs or pop-up campers.
Amish Country, Bird-in-Hand to Strasburg
A horse and buggy on a two-lane road between farms is still the Lancaster picture, and you'll stack behind one on the way into Bird-in-Hand or Intercourse. The point is the drive between those towns, farm road to farm road, at the pace the buggy sets. Strasburg is later in the same loop, the steam-railroad town where the Strasburg Rail Road works the farmland you just drove.
There is no public campground in Bird-in-Hand, Intercourse, or Strasburg. You leave the Muddy Run pad in the morning, take the two-lanes through the farms, and you are back at the reservoir for the evening.
Hersheypark and Hersheypark Camping Resort
A Hersheypark weekend is the other Lancaster trip, a full day in the park with Hersheypark Camping Resort as the overnight built for it. You do the rides, then you come back to a pull-through with full hookups. Water at the site runs mid-April through late October. If the group needs more sleeping space than a campervan, look at RV rentals in Pennsylvania.
On summer park weekends the rides and the campsites sell together, so lock the RV site before you book the van.
Columbia, Wrightsville, and the river trail
Columbia and Wrightsville are the river towns for a bike-and-paddle day on the Northwest Lancaster County River Trail, an extension from Muddy Run. Neither town has a campground. Battlefield days around Gettysburg belong to York.