My Camping in PA has been relatively limited. We had a local campground we always went to when I was a kid
http://www.stonymtcampground.com/ in in Tunkhannock PA (Go ahead... Try and pronounce it!
Just to ease your mind it's Tunk -like Trunk without the R, Han -like Hand without the D - Nock like Knock). When we went as kids, we always went with a very primative Pop-up (No electric, water, sewer, gas, nothing but beds on the wings and a Table that collapsed into a bed). Mom and Dad slept in a Canvas Tent (actual HEAVY canvans). I loved it too, but we didn't have any utilities on site. They do/did have water and electric site but I don't think they had sewer on site. They did have a dump site. They also used to come through with the Honey Pot truck too. There really is not much to do outside of the campground. It's out in the country. But it is (or at least was as I haven't been there in years) a nice campground to enjoy nature.
We have also stayed at Knoebels Park Campground
http://www.knoebels.com/stay/stay-at-knoebels. They have Electric at the sites but no water or sewer. You have to drive to the dump/fill stations for that. They also Rack/Stack them, particularly on the holidays. We only stayed there once and it was more for convenience as it's walking distance to the park
http://www.knoebels.com/ which is a very nice amusement park (No admission or parking fee either). There are other campgrounds in the area but not walking distance to this park. Lake Glory Campground
http://www.knoebels.com/stay/lake-glory-campground is down the road a few miles and they do have a shuttle between the park and campground. I have never stayed there though. We have driven through it though. It seems nice enough. They do apparently have sites from Primitive to full water/sewer/electric. There is also J&D Campground
http://www.jdcampground.com/ down the road from Knoebels. This is a nice campground that we have stayed out. Not quite as cramped as Knoebel's campground, but no shuttle to the park. It's about a 5 minute drive to the park and again the park does have free parking. We have stayed here and they do have full hookups.
I know there are a lot of state parks around as well. Another thought could also revolve around the Hershey PA's RV show
http://www.prvca.org/default.aspx?tabid=59 and of course there is Hershey Park. I don't know anything about the campgrounds in that area, I know there are some in that area but again, I don't know anything about them.
The Poconos are a beautiful area as well.... Nascar Fans I am sure know about the Pocono's Raceways as well.