the best place to camp and ride in pa
Check out the ATV trails in Sproul State Forest. There's a great riding area and you can camp at one of the trial heads. No charge for riding there. But I would strongly recommend calling ahead. Look on the PA DCNR website. They can give you details and phone numbers to call. They do close down occasionally due to weather related/trees down what-not. I think they also have mx events that might keep you out for a specific weekend.
Last year, I drove all the way out to Allegheny N.F. to find out 1/4 of the ATV trail system was shut down due to trees down. If I had come a week earlier, I wouldn't have been able to ride at all. So again, call ahead!