Possibly... In addition to truth or dare, may I reccommend a good old fashioned game of spin the bottle to lead things off? The bottle starts out nearly full, and then whenever it points to someone they either have to take a shot, do a non-sexual dare made up by the spinner, remove an article of clothing, or go into another room with the spinner for two minutes. The implication with the last one is to make out, which might not happen at all at first, but once they start getting into the drinks the guys and girls start making out (while same-sex people kind of stand there awkwardly or make funny noises to entertain the people waiting), and finally just go ahead and experiment a little - possibly once they're too drunk to be bothered stumbling into the other room.
Ironically, I once did the game listed above with three of my friends, and it went similarly to the way I described. The dare option turned into a round of truth or dare every time the bottle was spun, with two people asking a truth and the third person doing a dare. The non-sexual dare was specified because we already had a rule that allowed and encouraged making out, and the two-minute time limit wasn't exactly strictly enforced.
May I reccommend the camping trip be near a lake? Funny things happen when dares and lakes are combined.
I'm just tossing ideas out at this point. :)