Kim is right on but I will add a few thoughts as we just visited
there for our 1st time in June.
Since you are both retired and won't have kids with you(?) I highly
recommend a day each at Jamestown National historical park and
Yorktown National historical battlefield.
One National park ticket get's you in both. The ranger talks
were totally fascinating!! We both found the talks MUCH more
interesting than our history teachers ever let on way back in
high school American history class!
Take the ferry across the bay just because you can. It's fun and
free. Near Jamestown.
We stayed at a little campground that was 20 minutes west of
downtown Williamsburg. It's called Williamsburg Christian Retreat
Center. I mention it because it only has 20 or so camp sights.
All are heavily shaded with picnic table, fire ring, free fire wood
and full hookups. ---VERY quiet and peaceful.---
Modern bath house if you care to use it.
One caveat, the entrance road is gravel and dusty when you are
coming and going. We did not have any problem with dust
in the CG because it was so small and very little traffic back there.