We had first outing in caravan when ds was 5 weeks old. He's now 9 and still loves it. He's moved on from keeping his cars and trains in the oven. He likes to help hook-up, check lights, wind down legs etc 14 year old dd now prefers her own space in annexe of awning - looks just like her bedroom after a few days!
We stick to caravan and camping club smaller sites - farms and holiday meets et. Much cheaper, nice people, no large gangs of children out late at night, no noisy swimming pool or bars. Don't be afraid of sites with no electric hookups, they're often the best. A solar panel keeps battery topped up for lights, phone charging etc. Virtually any caravanner will be pleased to help you but you may need to ask.
I never tow but had to pack up and come home when dh taken ill. People next to us on site helped pack awning etc, and couldn't have helped more. I was terrified at first but we got home safely - mirrors are apparently the key. It's a good idea to do a course - I will one day!
We find weight the biggest challenge. Work out what is essential and leave the rest at home. TV never. 2 aqua rolls essential - one in use, one full ready - being half way through a shower with no water is no fun. To avoid frequent shopping trips on longer stays, we use a gas fridge in the awning as the caravan fridge is very small. Have to fight for space for salad as it mysteriously fills with beer. We've even taken breadmaker to site with hookup, the smell drove our neighbours mad!
Enjoy your caravanning. Opening the door in the morning and letting the dcs go off to make friends and play gives them the freedoom they can't always have at home. We've had many bad first nights but now smile to ourselves as new caravan families struggle at bedtime whilst our dcs sleep. We take our bikes (transported on back of car and inside caravan) and cycle instead of driving when possible - adult bikes now replace babyseat and tag!
Caravanners have lots of advice to pass on!