Don't stay on interstates. If you travel secondary highways you'll really get to see this wonderful country of ours!
At first you'll probably want to use full hookup sites in RV parks (electric, water, sewer), but try to wean yourselves off them. You'll find gorgeous places if you stay in national parks, state parks, national forests and county parks. Most will not have hookups but it can be done. You'll get the hang of it after a while.
For a test you might even want to get a full hookup site but test yourselves on not using it but know it'll be there if needed. Come into the campground with empty holding tanks but fill the freshwater tank. See how long you can go without dumping. Conservation is a must. See how long you can go without plugging into the electric. Again, conservation.
We love traveling the secondary roads and our first choice is always a public park.
Also, don't be afraid to ask for help...even if you think your problem is simple or dumb. We all started out as beginners and we've all made mistakes....and still do! You'll find that RVers really do want to help.
Just go and have fun!