In a motorhome, you'll have to be cautious where you can put your child's car seat :)
Our children have both been camping since their first summer, my daughter from just a month or so old, and my son's first canoe trip was at 6mth old.
They don't know that some people think it's hard to take kids camping, they just have fun. Our must-haves for camping with littles are: a good back pack to carry them on hikes (we have one by Kelty, as well as a Boba soft carrier), and something to contain them for safely/meals/set up - a play pen, a stroller, the empty baby pool. Whatever works for you.