Camping recommendations (live in, parks, area)

[Chi-turtle]

I'm trying to plan a camping trip for me and my friends. We all live in the Chicago area looking to drive to southeast Wisconsin to go tent camping. We want to be able to drink and make a fire and grill. We'd also like to find a place where we won't be right on top of another group of people, we'd like to be a little secluded but not too far out. I'm new to camping, never planned a trip like this before so any suggestions or advice is welcomed. Thank you in advance!

[Milwaukee City]

I hear a lot of people like Richard Bong State Recreation Area - WDNR (http://dnr.wi.gov/org/land/parks/specific/bong/ - broken link)

I never been there but I know it draws a lot from Chicagoland, you could try http://dnr.wi.gov/topic/parks/name/kohlerandrae/