camping with baby

Do you take your kids camping and why? Do you leave them home and why? (Due to another members comment lol I want to clarify that you should never leave your children alone at home unless they are of an age to care for themselves. So by leaving them home, we meant as in with family/close...

My wife and I are expecting our first child in about a month. Just wondering if anyone has and tips/advice on "light" overlanding and camping (trailer) with an infant? Or should we just not consider this at all until she's older and can hold her head upright?