"General Repairs" might not be the best place to post this (try the Airstream Lifestyle area.) But here are my 2 cents worth anyway....
Assuming you can legally do this (pesky homeowner associations and all) I would suggest first spending a few nights camping in your driveway (or that of a friend's with a less fussy HOA if need be.) This way you can get the feel of things and do some "debugging" while being close to your "life raft." Try all the systems (hot water heater on propane, AC, propane heater, Fridge on propane, use the range, oven, radio, TV, etc..) You might discover some major warranty item that should be fixed before you head out in the world or some operational questions for your dealer. At a minimum, you can figure out how everything works in a low risk setting. Then head out to a campground that is reasonably close to home (within 1/2 hour is ideal) so you can try "real" camping but can still run home to get the salt shaker or toilet paper that you forgot to bring. After both of these episodes, you are ready for your first real trip. I'm sure that others will chime in with other excellent suggestions.
And of course, keep your sense of humor and have fun!!!
The above advice is based on my assumption that you are complete newbies to RV camping. If you are seasoned veterans, then I would just do the driveway thing to see what needs to be fixed by your dealer.