I want to take my family camping for the first time

My wife and I want to take our two kids camping. Neither one of us have ever been camping but we want to start. I think we have all the equipment we need but we can't decide where to go. Would it be better to start off at a private campground like KOA? Or should we dive right in and go camping at a National Park? What would be the best way to go. We want the first experience to be a pleasant one.