Although Caravans can be a method to venture into Mexico for novices I would suggest the following: Depending on where you live there are some nice spots not too far across the border. Puerto Penasco ( Rocky Point), Kino Bay and San Carlos come to mind. San Felipe is another and is close to California. Ensebada in Baja is very close to San Diego. Join the RV. Net Mexico forum and do some reading. The Travelers guide to Mexico by Church and Church is a great read. Some of the info is dated but it is still a great book. The problems with caravans is that there is a lot of hand holding and they can be very structured. Also very expensive. If you are an Escapees member they have a Mexico chapter and Caravan short distances into Mexico. Inexpensive and a great starter for first timers. Have fun!
2008 Dynasty 42' Diamond IV
2004 Safari Trek ( Mexico Unit)
2009 Silverado Toad