Waiting till the kids are old enough to camp is not the right approach. We had all of our grandchildren canoe camping before their first birthday. They grew up knowing what camping was about from the start.
Often we would stay in a lodge for a few day so they could swim and play on the beach but mom and dad and the grandparents always managed a two or three days of canoeing and camping. By the time they were teens they could handle a canoe as well as most adults.
Today they love the outdoors and our hope is that they will pass it on to their kids.