I always found it better to give the children their own little 'jobs' to do when camping, it gives them a real sense of participation. Even the 3 year old can carry the hammer or a rope or two for you & the 5 year old can always hold the pole.
Get them to help pack the car as well, they can carry small items to it. Your daughter might even like to help mummy with the wiping up...It's always more exciting to do chores like that when camping.
Lots of familes here who I am sure can give you heaps of advice so don't be affraid to ask the question. Lots of info to be found by going back over the old posts as well.
The worst day camping still beats the best day working