I think you have to make it easy. Easy to get away, easy to set up, easy to pack up, and easy to clean when you get home. The harder it is the more there will be excuses not to go. Different set-ups work for everyone and whilst having the camper trailer works perfectly for us as a family, my humble bivvy bag works perfect when I'm by myself.
Secondly it is a lot harder to get kids used to camping and the outdoors if they haven't experienced it until later in the years. All of my kids have been camping/travelling since they were babies, and as a result they travel well with minimal complaining. If anything I have the kids pestering me when the next trip is.
Third camping/travelling with kids can be hard work. Sickness, sleepless nights, bad weather etc etc. Thankfully it all gets easier as they get older, but those early years can be quite hard work. IMHO it is well worth every bit of effort.
Lastly there will be bad times. Vehicle issues, weather (again), usual marital arguments, being bogged, track closures etc. Its how you deal with those issues that can make a huge difference. It can either be the trip from hell that stops all future trips, or it can be the one (of many) that you laugh about in years to come.
Cheers
Chris