You've got a Class C, so you are not really camping. It is a small house. What you need to do is to make that small house safe and comfortable for the infant as you would at your main home, and take the same precautions when moving as you do in the car.
When stationary, we always found a place to set up a Pack 'N Play. Sometimes there is floor space, or it can be set up in the dinette space. Better than a blanket on the floor, once they start rolling around. Infants need a place to sleep, which works as well for just laying there observing, and learning to control their limbs and body movements.
Infants are relatively easy. The fun starts as the child progresses to toddler, will not consent to being confined in a small space, and is developing mobility and curiosity. Then you need to childproof the house of the C, the same as you would at home. And you need to watch them closely when you take them outside to explore. There is about two to four years in there until they can start being responsible for their own safety, and that progresses gradually. Actually, some kids still don't have that down very well even at 18-30 years.
Did this with little brothers and sisters (oldest of eight, 18 year span), children, and now grandchildren. 11 year old granddaughter, who was RVing with us since age 2, has moved close to me again and wants to know when is the next RV road trip. We must have been doing something right, if she liked it that much.
Camping, keeping a child safe and comfortable in tent conditions, that's a whole different problem from the RV thing.
Tom Test
Itasca Spirit 29B