I have traveled Lancaster extensively. I am not aware of any tour service that will take you from Lancaster to Philly on a tour bus. There is a bus depot in Lancaster plus the railroad. If you don't want to drive to Philadelphia you can certainly take a Greyhound type bus or the train. Philadelphia is about an hour and a half drive from Lancaster and once you get to Philly there are local tour buses there.
At the end of October some of the campgrounds here close so plan your trip early or mid-month. There are many nice campgrounds. We like Old Mill Stream Campground. Nice people running it, spotless bathrooms including family bathrooms with showers, and a central location. They remain open until the end of November.
See my articles here on Lancaster for places to go and things to do -
http://roadtrek190popular.blogspot.com/p/places-to-visit.html