Okay, I never been camping out the Marines, but that doesn't count because shit was retarded.

Anyways, how does one "go camping"?

I want to camp in a national park, I want to be away from people, I don't mind just using a small tent and bringing MREs my buddy can hook me up with.

Only thing is, how does one go camping? Do I have to actually sleep on the designated camping grounds? I want to wander a little bit into the wilderness and be completely alone. Is this not allowed? I'm a bit confused on the rules.