I would take I81 down to Stanton VA, pickup I64 and follow it right to Williamsburg. Get off at exit 231A, Heritage is about a mile down the road (good signage). One of the perks of staying at Heritage is; they give you fresh homemade cookies as part of your welcome package... along with other discount tickets and standard affair.
It's about 10 miles further down I64 to Jamestown Colony and a little further on to Yorktown Battlefield. I think they call it the "Heritage Triangle" well worth visiting.
We stopped at Luray VA on the way back with the grandkids. The caverns were "awesome" (to quote the kids)... and just a short hop up to the "Blue Ridge" parkway for some spectacular views. We stayed at the Luray KOA, what a nice, well run campground with pastorals views (being a farm boy from Vermont I sat in my chair with a cold drink and watch the boys hay a field like I've never seen before. What they did in a couple of hours would have taken my farther with 2 farmhands 2 days to do. I'll be staying there again). They also gave us discount tickets to the Caverns.