Types of Camping/Parking
Stealth Camping
In a city or urban/suburban area where you don't want to be known as a camper. There are a lot of weird antivagrancy laws and RV/parking laws mostly aimed at poor and homeless people. It is good to not highlight yourself as someone sleeping in a vehicle for a number of reasons.
How to do it:
Eat/cook inside your vehicle. Do not drag out your sweet pull-out kitchen from the back and start making a 9 course meal blasting music.
Park away from entrances/don't take up parking spots that are obviously going to be needed by store patrons.
Clean up after yourself/don't make a mess.
Be quiet, respectful and obey all parking signs/laws. Ignorance is not an excuse.
Ask store managers if you can park there. Truck stops are usually a good option or even gas stations. They're manned 24/7 and have good lighting, bathrooms, gas, and snacks.
Find quiet side streets or out-of-the way areas that aren't highly trafficked.
Do not dig or use cat-holes at the Home Depot parking lot, please.
Dispersed Camping
Found in national parks, some state parks, fish and wildlife or other federal lands. This is PACK IN PACK OUT. Yes, that includes your actual shit from your butt. Not polluting streams with your soap or dumped soda. Does it really matter? Yes, don't be a dick. Check for local rules on distances from water sources for cat holes and paper waste.
Most of the dispersed national park lands are out west. Some ask for donations for the vault/pit toilets and free camping. I recommend paying into these ($5/night).
How to do it:
Be aware of natural wildlife, flora and fauna. They are not the same everywhere. There is a type of growth in Moab/Southern UT for instance that takes hundreds of years to grow and can be easily killed by unwary hikers and campers. You don't have to be an expert, but it's good policy to leave shit alone, and leave it better than you found it. Yes, we will come across trash, dumping, and graffiti. Best bet is to clean it up when it's safe and move on.
Respect all local rules of the land/whatever owner. Some are closed trails/areas due to erosion or flooding, controlled detonations, or other hazards. You might want to be Adventure Jack, but there are other ways to accomplish this.
RV Parks / Campsites
This is also known as car camping. Sleeping with power, water, many times vault or pit toilets, or running water toilets. These are generally going to be paid sites from $2-$65/night depending on the amenities. Some have pools, dog parks, mini golf and are 'resort-style'. Generally going to have neighbors, noise, and families.
How to do it:
Park where you're directed. If you're unsure if you can get it, don't be shy about asking for help! It's better than wrecking your shit or damaging anything.
Don't block any one in/out. Stay in your allotted space.
Dump/fill and be patient. Sharing is Caring!
Keep kids, dogs etc to your space with noise/activities.
I've never actually stayed in one, but these seem like my "common sense" rules! Hit me up if you have anything specific I can add.