Camping in NJ

Does anyone know of a good camping spot in New Jersey/ eastern PA that is on a lake that one doesn't have to hike to?

There are a lot of spots more interior in PA but I'm trying to find one as a mid point between us in DC, our not very outdoors friends in NYC and that I can easily bring a chest full of beer to.

There are two places I can think of with a lake. One is High Point State Park which is nice but is in the upper northwest corner of NJ. It would put you almost 1 hour and 45 min from NYC.

The other place I can think of is Timberland Lake CampGround in Cream Ridge, NJ. It has RV Hookups, Pool, Store, bath Houses, fishing, boating, and tons of activities. Its not far from civilization should you need anything. This is place is about 1 hour and 20 mins from NYC and 20 mins from where I live.