Start simple with a car camping situation -
- Tent - don't worry about getting the lightest and bestest - one of the 2-man 7'X7'X5' outfits will do you well for the first few. Available from discount stores for $30-$60
- Sleeping bag - I actually was more comfortable using the bag as a cushion and a second bag as a blanket. Again, don't sweat getting the lightest and most expensive: you'll be driving it and not carrying it. A ground cushion is nice, don't mess with the cheap inflatables, though.
- Cooler - Duh. It's nice to have ice. Save some room and trouble by freezing your bottled water, less sloshing that way.
- Cooking equipment. - Whatever you go with, make sure you know how to use it. A small campstove ($20) is handy in case it rains. I just pack some cheap used pots and pans I get at the thrift store. If they get ruined it's no big loss. Try to keep it simple, though; a teapot, saucepan and frying pan at most.
- Menu. If you're in your car and have a cooler you have lots of options, Try to keep everything simple, though. Don't pack loaves of bread as they get squished. Try taking pitas, soft tortillas and the like. Don't try and cook anything for the first time, practice on the grill at home.
- Snacks. Avoid chocolate - it melts. Pringles in the cans are quite handy.
- Dress - Sturdy cotton and wool only, please. Nothing tight-fitting. Pack a set of "camp shoes", flip-flops are acceptable.
- Most campgrounds do not allow you to collect local wood for fires. Bring in your own. If I'm car camping I like to cheat and buy some small bags of self-starting charcoal: just light the bag, toss on some sticks and then some wood and I've got a toasty fire in minutes.
- Miscellaneous - Spare tarp, some rope, bug repellant, first aid kit, extra lighters, spare medicine if needed, camp chairs, flashlight, BUG REPELLANT, Trash bags, ... and a few rolls of aluminum foil - very handy.