Big Sur - non tri related

Question for those in the know; are there any adventure outfits that provide hosted camping excursions in Big Sur? Planning a trip West from Philly in June and would like to spend a night or two under the stars but don't want get bogged down in too much planning or equipment renting, etc. Just want to pay somebody reputable to take us (wife and I) in, show us around, set up camp, get us back out, etc. Anything like that available?

Thanks!