Replying to Road Trippin'

So this summer my friends an I are planning on taking a trip down to moab. I have ridden slick rock, it was sick! but i was wondering if anyone knows of any awesome campspots (preferrably free/not to far off the road) but close-ish to town. We are going with chicks who aren't exactly hardcore, just going down for fun and to mess around. I've been looking and going to mill creek canyon and swimming around, and wondering if anyone has good suggestions for swimming/camping/bouldering. thanks!