There are a few good campgrounds but not centrally located.
Gettysburg Campground is very nice. Camp along the creek. I had a group rally there in May
http://gettysburgcampground.com/
Spring Gulch Resort, New Holland PA is very nice, two pools, jacuzzi, spa and much more. I had a 10 day international rally there last June. East of Lancaster http://www.springgulch.com/
Pine Grove KOA, Twin Grove CG - same place. http://www.twingrove.com/
Every nice, make sure your site isn't in the middle of a field. No rallies here but I camped here one father's day with my daughter and 5 other girls. 😮 A lot of margaritas.
Drummer Boy in Gettysburg is very nice, but expensive. I have also camped at Old Mill Stream in Lancaster. The campground is small and right next to and owned by Dutch Wonder Land. For what I like I had the best site in the campground. It was on the east end of the campground in the front row along the mill stream. I could see cows and a farmer working, ducks in the stream...but if I looked to my left there were RVs stacked on top of each other. I looked at the Hershey KOA and it had a few sites that were acceptable. I also camped at a campground called Shady Oaks. It had some nice sites and is outside of Hershey.
Everything in that section of southern PA is in relative proximity, so my primary campground concern is the type campground. We prefer smaller, more "country" campgrounds, and not what we regard as the horrendous, huge, terribly busy mega-parks.
For several years, we've stayed at Country Acres, which is east of Lancaster, on Rt 30. Though it seems relatively close to the road, a ridgeline deflects most of the highway sounds and keeps it quiet. It's a clean, neat, quiet, well-run campground.
Old Mill Stream, at one time (many moons ago), was very nice, despite being situated right next to an amusement park. Now, it's a tenement, with too many sites and far too little elbow room. Perhaps it's do-able if you're lucky enough to get a site out on the perimeter.
Drummer Boy is expensive, and there is way too much road noise from the bypass.
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