Camping out with your daughter is a great chance to teach her some practical skills and spend quality time together. Plenty of parks offer accessible campsites with nearby bathrooms and even electrical hookups. During the day you can show your daughter how to find true north, navigate with a compass and build a fire. At night, roast some hot dogs and see who can come up with the scariest ghost story.
If you have a younger daughter who isn't interested in roughing it, backyard campouts can be fun as well. Set up a tent and sleeping bags, but instead of a campfire, opt for flashlights.
S'mores, of course, are mandatory wherever you are.