Here's a list I put together getting ready for a car-camping trip this weekend:
Must have:
Tent
Tent stakes
Sleeping bag
Sleeping pad
Stove & fuel
Bic lighters (at least 2 – forget about the “waterproof” matches)
Pot, coffee cup, spoon
Food
Water
Sunscreen
Sunglasses
Hat
Weather appropriate layers
Hiking/water shoes
Headlamp (everyone should have an l.e.d. headlamp these days, e.g., cheap, light, Energizer from WalMart)
Camping soap
Scrubber pad
Camp towel/bandana
T.P.
Nice to have:
Chairs
Lantern
Camp shoes
Clothesline
Sierra saw (axes/hatchets are a waste of wood and energy)
Fire starter (lots of options/opinions. I don’t mess around – I use zippo lighter fluid)
Gourmet cooking utensils
Cooler w/ raccoon-proof latch
Dish/bath cloths & towels
Toiletries
Ear plugs (for loud neighbors when car-camping)
I'm pretty simple - not nearly anal enough to be a scout leader.
I actually do carry a first aid kit, but it's very simple since I've never used anything but band-aids and neosporin. The best first aid is to go see a doctor.
You really need to just go do it and be willing to make "mistakes," because that's how you learn what's really important. You have to get comfortable with the compromises that have to be made about what is necessary for safety and what is reasonable/worthwhile to lug around.
By far the biggest danger when camping in Texas is racoons getting into your food. They are amazingly bold and talented.