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.