One of the closest RV parks to Washington, D.C. is Cherry Hill Park:
http://www.cherryhillpark.com/
It's in a suburb of D.C. Considering traffic, etc., it takes about 45 minutes to get in to the middle of the city. Public buses stop in the campground hourly and go to the metro stop that is quite close. Also, according to the web site, Gray Line guided tour buses stop in the park three times a day.
RVers also stay in Greenbelt National Park, but be aware that the park does not have electric hookups: http://www.nps.gov/gree/
Regarding a visitor's guide, one of my favorites is the one maintained by the Washington Post:
http://www.washingtonpost.com/wp-srv/cityguide/visitors-guide
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