Water refill when dry camping

We are finding ourselves camping without water hookups often due to the increase in camping families in our area. After an initial fill at the potable water spigot, we have been "topping off" the freshwater tanks by using 6-gallon potable water jugs and a funnel system. These water jugs are heavy and the funnel-holder member of the family is often getting wet due to splashes. Any suggestions for pumping water from our 6-gallon potable water storage containers into the freshwater holding tank of our RV, as opposed to just dumping it in the traditional way we have? Looked online for liquid transfer system, but finding mostly things rated for automotive fluid transfer and not potable water. Thanks for any suggestions.