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In some ways camping with an infant is easier than camping with children. Here are some tips. I have added some links to articles or items that might help you. Check them out.

• Use a carrier. They allow you to hold baby while doing other things. This keeps your hands free, baby cleaner and safer. There are so many out there but my favorites are Ergo, New Native Sling and Moby Wrap. I could not live without my carriers both at camp and at home. My daughter now rides in the Ergo on my back and can until she is around 3 or 4.
• Once they can sit up well a hiking backpack is great for longer hikes. I love our Kelty pack with its detachable day pack, changing pad and sun canopy. Our daughter loves it. And it keeps everyone cooler than the carriers for a long hot hike. 
• If using formula bring enough bottled water to make your formula. Don’t rely on finding it. Or buy canned formula that doesn’t use water.
• Bring sunscreen designed for babies and hats and clothing to keep out of sun. Here is a website listing toxicity of sunscreens.
• Bring enough warm clothes and blankets. Remember babies get colder and hotter faster than adults so bring layers.
• Can buy milk in containers that don’t need to be refrigerated. Usually found for school lunches.
• Portion out baby cereal in ziplocs.
• Bring small jars of baby food. Can freeze smaller portions of food that will thaw as you go in the cooler. 
• Bring baby wipes to wipe off toys dropped on ground
• Co-sleep safely or use a pack-n-play or travel bed 
• Dispose of diapers safely and cleanly. If backpacking or if using cloth might want to keep dirty diapers in bear proof container when in bear country.
• Bring pack-n-play for containing little one when you are cooking or otherwise occupied. 
• Be aware of animals in area including mountain lions. 
• Take your normal precautions. Never leave baby alone, watch for choking hazards. 

Have fun and enjoy introducing your little one to all the sites and sounds that you love. What a gift.