L.Q.
I have to second Hickory Run. We LOVE it there. There have always been bears there, but don't let that deter you - just use common sense and you'll be fine. They have trails that start INside the campground, so you don't need to get in your car to find a trailhead once you've set up camp, but nearby Boulder Field is incredible, and there's another trail with a small waterfall that we always drove to (forget the name, but it's lush with rhododendron).
Ricketts Glen is a haul, but I would love to go there someday - I hear it's incredibly beautiful.
Definitely check the PA CNR website and use their park locator. You'll find the "real camping" will take you farther from home, but to us, it's worth it to NOT be piled up on top of other campers, or worse, be stuck surrounded by RVs with tvs/ac/generators running all night long. Not fun when you're in a tent, trying to enjoy nature. (Most state parks allow RVs and tents, but try to stick with the ones that have tent only sections, for your own peace and relaxation - HR has that).
French Creek was a real disappointment to us - closer to home, great activities, but that's where we were crammed in with the RVs.
ANother suggestion, since you like camping/hiking: check out geocaching. It's addictive: www.geocaching.com It'll get the family out and about and keep you to one piece of electronic gadgetry: a hand-held GPS receiver.