Leave the bikes at home. Get out your good Sam directory and read about all the interesting places as Kerriakeroo mentioned. State parks in MA are booked many months ahead of time and they will not let you in without a reservation. Most of the private campgrounds are excellent in CT and MA and you should probably plan ahead on what you want to see. You could also take a chance and drive into a campground and hopefully they are not full, but at this time of year in Cape Cod they are full up especially weekends.