Are you going to try to go straight through? Or break the trip in two?
As was mentioned above 95 south or NJ Tp to the bridge in Wilmington and then switching over to Rt 13 South with a stop at Chincoteague makes a nice trip, and then continue through to the Chesapeake Bay Bridge Tunnel, which will bring you out only a couple of miles from False Cape State park and the North end of Va Beach.
Lanes on the CBBT are full width, 13'6" clearance and the only special requirement is turning off your propane before entering, and the 26 mile over/under water drive makes for an interesting trip.
If the bridge tunnel isn't your cup of tea, take I-95 south to Richmond Va, and then I 64 east.