S.S.
I also grew up in a non camping family. My ex-husbands family writes mountain man/ dutch oven cook books, so I was in for the time of my life the first time we went camping. Literally, pick a spot on the side of a mountain and set up camp.
Now, I love it though. We took our son when he was 14 mo. old the first time and he loved it. We loved it.
Time to hit walmart. They have everything you will need (and then some-don't let the hubby go overboard or you'll end up with a bunch of stuff you drag along and never use)
1. They have a tent for $50 that fits two queen sized air mattresses so plenty of space for the 3 of you.
2.You'll need a rubber mallet to drive in the tent stakes.
3. Get a good airmattress. My favorite is $60 for the queen size at Target-Coleman raised mattress.
4. Get two sleeping bags that zip together and are rated for cold weather-get as low a temp as you can afford.
5. Start at camp grounds with water and bathrooms until you get accustomed. Especially with a little one, having running water-even if there's only one temp. makes it so much easier.
6. I bought a rubber maid tote without holes in the bottom to put all of our dishes/ misc. stuff in. It doubles as a wash tub when you need to wash dishes or a bath tub when you need to wash your boy (and you will need to wash him!)
7. Buy extra packs of diaper wipes. They work for everything from "showers" for you two to cleaning up messes, washing feet, tissues, everything.
8. There is a box of dishes that comes with plates, cups, and pots and pans or just use paper plates/utensils. Remember that the pans are not non-stick so cooking is a little more tricky.
9. If you are hiking as well get a metal framed baby carrier. Try them on (with the kid in it) on both of you, make sure you can adjust it to be comfortable for both. One size definitely does not fit all.
10. It can get COLD even in the summer, bring jackets for the morning and nights and a hat for the sun in the day.
11. Get a cooler to keep all food in-animals will come to join you if your food is not hidden. Put all your food in the car at night.
12. Get a collapsable water jug (saves space in your garage). Even with water at the camp grounds it is really nice to have some right there by your tent to wash little hands that have been in the dirt or spoons that fall on the ground, etc.
It will take you a few times to get everything you want and realize the stuff you don't need. I now have my "72 hour kit" that doubles as my camping gear. Everything I need in an oversized duffle bag. When ever I get the urge to camp, I throw it in the trunk, add sleeping bags and the tent and we are ready to go.
We had so much fun with our son camping. Especially when he was a toddler, he was so excited about everything. We have tons of beautiful pictures and memories.
Good Luck