Kirk, Spock, and McCoy camping in Yosemite National Park
Camping was a popular activity that involved cooking over campfires, spending the night outdoors, and overall enjoying nature. Camping was not limited to the Human race, but was known throughout many other cultures.
In 2151, Enterprise encountered an M-class planet. While members of the crew stayed on the planet for scientific observation, Trip Tucker and Travis Mayweather took the opportunity to go camping. (ENT: "Strange New World")
In 2287, Captain Kirk, Captain Spock, and Doctor McCoy took shore leave on Earth in Yosemite National Park. They participated in camping rituals such as the "sing-along," cooking over a campfire, and roasting marshmallows. The crisis on Nimbus III interrupted their shore leave, as well as a music lesson on Row, Row, Row Your Boat. (Star Trek V: The Final Frontier)
Humans often went camping as a family activity. Sergey Rozhenko regularly took his sons Nikolai and Worf camping in the Ural Mountains. (DS9: "Change of Heart") John Torres used to take his daughter B'Elanna on camping trips with her cousins when she was little, before he abandoned his family. (VOY: "Lineage")
Most Ferengi deplored camping; their 102nd Rule of Acquisition states "Nature decays, but latinum lasts forever." (DS9: "The Jem'Hadar")
While exploring a planet in the Delta Quadrant in 2372 , Captain Janeway and Commander Chakotay of the USS Voyager were bitten by an insect and infected with a virus. The only thing keeping the two alive was the planet's ecosystem. Voyager was forced to depart to find an antidote, leaving the two stranded on the planet, where they resorted to camping to survive. (VOY: "Resolutions")