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. The place for this activity was called a camp or an encampment.
As a child, Trip Tucker went camping with his friends, spending half the night watching the stars and wondering what Sol looked like from far away. In 2151, while Enterprise visited Archer IV, Tucker and Travis Mayweather took the opportunity to go camping and Tucker could view Sol from another planet. (ENT: "Strange New World")
In September 2152, while confined to the catwalk, Captain Jonathan Archer asked T'Pol if she ever went camping. She told him that she once participated in the kahs-wan ritual where she was taken to the desert and left to survive for ten days. (ENT: "The Catwalk")
In 2254, the Talosians placed a perfect illusion into the minds of the USS Enterprise landing party when they went looking for survivors of the crashed SS Columbia. They walked right into a situation which was completely logical, right down to the building of the survivors' camp. (TOS: "The Cage")
In 2287, Captain Kirk, Spock, and Doctor McCoy took shore leave on Earth in Yosemite National Park. Prior to leaving, Spock consulted with the USS Enterprise-A's computer library to learn of the customs associated with "camping out." They participated in camping rituals such as singing songs like "Row, Row, Row Your Boat", cooking over a campfire, and roasting marshmallows. The crisis on Nimbus III interrupted their shore leave, however. (Star Trek V: The Final Frontier)
Prior to 2367, the Sisko family made a camping trip to Itamish III, where Jake Sisko learned water skiing. While on a camping trip on a planet in the Gamma Quadrant in 2370, Jake recalled this vacation as the happiest time he and his parents had had together. (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")