We took our 2 (then both 3) for the first time last September.
I was a bit nervous about them being able to get out/someone get in and ive camped for years!
We have a 2 bedroom tunnel tent and put the kids in one end filled with blankets and cushions (layered the blankets and duvets on the floor so they were comfy) and they made a bit of a den in there. We left the lantern on in the middle section so it wasn't too bright but still comforting for them.
I went in before we went to bed to make sure they were covered and warm enough.
Also, food wise I was VERY organised! I did a meal plan because cooking can be an absolute ball ache while camping, especially with 2 hungry kids and a tiny bbq!
On the day we arrived we had jacket potatoes with chilli. Id pre-cooked the jackets the night before and wrapped them in foil. They just sat and heated up in the embers, it didn take long as they were already cooked. We also had a small gas stove which I heated the (precooked) chilli on. DP laughed at me but this preparation was all of a sudden very welcome after a long journey and erecting the tent with darkness looming!
We also took hot dog sausages and marshmallows which we cooked over the fire as a late evening snack on 2 nights which they loved.
I was a little worried about the fire especially with clumsy ds but I took a few jars and tea lights and made a fire circle that they had to stay outside of until we said they could come in to help. (They also looked really pretty and made for a romantic evening for Dp and I!)
Ooo and I also took some tins of 'bake your own croissants'. If you wrap them round a forked stick you can cook them over the embers and they're delish! (I filled mine with dairy milk before cooking) bit of a faff though and Dp gave up after 1 but I was determined!
All in all it was a really lovely, enjoyable weekend- it just took a lot of lists and gentle ribbing from Dp in the days running up to it!