I agree that fear of the outdoors is what holds a lot of people back from hiking or camping. Have you read anything by Richard Louv? He is aiming more at getting kids outside regularly, and his Child and Nature Network is working to help communities create more opportunities for kids and families to get outside. I just watched a piece in my ECE class today about a program in Virginia that sets up nature hikes for young children and their parents.
I did not grow up in an outdoorsy family. My parents believe that nature is best viewed through a glass pane, and preferably the one on the front of the television. But I spent a lot of time at my Granny's house, and she made sure we spent as much time outside as possible, exploring, walking, poking things, and running around. I never went on a nature hike until I moved to California 15 years ago. And as much hiking and camping I've done in the last seven years, I still don't think I'm anything more than a newbie at it.
I'd like to see more urban-nature opportunities, to help reconnect people to nature, even in cities. I think that's the first step.