Camp Seton in nearby Greenwich CT is the closest you can get to the resident/sleepaway scout camp experience while still sleeping in your own bed at night! Numerous local Scout attend, and non-Scouts are also welcome. Sign up is by week, and done directly with the Greenwich Council: https://www.greenwichscouting.org/cubscout.
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Earlier Event: June 16
Model Rocketry Event
Later Event: August 4
Resident (Sleepaway) Camp at Camp Workcoeman