And you Don't Even have to be a Boy Scout.

Campsites still available for holiday weekend - TwinCities.com:

"Campsites are available at some Minnesota state parks for the upcoming Memorial holiday weekend, but you need to act fast, according to the Minnesota Department of Natural Resources...
... Sites at state parks are available on a first-come, first-served basis."

Check your local state/national parks to see if there is a spot for you! For a small investment of about $300 you can have years of cheap vacation fun. And the best part is that even if you go back year after year to the same spot .. you will never have the same experience twice!

Tent for 4 (two will not do it): $70
sleeping bags (rating 20*F): $70
sleeping mats (keeps you off the hard ground): $5 (if you buy foam from Hancock Fabrics), $20 if you buy them ready made ... more for the inflatable ones (which are harder on your joints)
extra tent stakes: $5
rubber mallet: $5
plus food and you really may want to invest in a bear box.

Its a really a nice way to get back in touch with the family too (as long as someone knows what they are doing ... and you leave the electronics at home. You would be surprised at how a kid can amuse himself with out a gameboy, ps3, computer, or television.

Of course if you really feel that 'roughing' it is too much for you - and in the summer with the bugs I would have a tough time with it - you can always opt for the RV with the "soft" beds, the cooktop, the shower/toilet (although limited capacity - I suggest that you only use it if absolutely necessary since it will cost to empty the tanks), and electricity/air conditioning/heat.

Some even have antenna to pick up television (although when they switch to digital they will need the conversion box).