French Creek is the nearest PA state park with tent/RV camping sites. There are KOA sites at Clarksboro, NJ and West Chester, PA. I think Mercer County Parks around Princeton has a few camp sites. As well as Wharton State Forest in NJ. I'm sure there are a bunch of private campgrounds that I don't know about that you can probably find online. But closest state park camping is probably a 45 min + drive out of the city.