Like the above poster said, First Landing State Park is on the water.
Usually we are not a fan of private campgrounds but when we visit the Virginia Beach area we stay at the Virginia Beach Holiday Travel Park
. Yea the sits are close together but we are usually out and about during our stay. They have a parking lot a couple of blocks from the beach. This way there is not trying to find a parking spot when visiting the beach.
Bring the bicycles, many paved bicycle paths around the beach area. The campground is only around one mile from the boardwalk / beach area.
Take a ride to the Back Bay National Wildlife Refuge
. From there you can bicycle to False Cape State Park and into North Carolina. We did this during our last visit.
Best of luck with your decisions.