Camping just camps you. If one of your party members has a healing skill it will be a bit better overnight, though it really becomes much faster to buy healing in a town once you can handle a dungeon.
What you want to do to start is just kill things around towns and go into the town sewers. Monsters usually only attack you if you're close to the same level, which is nice, that way you don't get destroyed early on.
My characters are mainly on the bottom right hand corner (I'm the one turning the map green down there), where abouts are you?
