After somewhere to set up your tent? Reserve a space at Yogi Bears Jellystone Park, a top camping spot that has all the basics you'll need.
You'll have sightseeing choices galore when in Madison. Yogi Bear's Jellystone Park is a great place to begin here, but there are many other interesting sights to check out. Treasures of Madison County, and Four Freedoms Monument are close to the dedicated camping area and will fill in your day nicely.