Nancy & Bill,
If you are just staying for a day or two, stay in the BLM land. As you approach the first off ramp you will see RV's to the left of the freeway; take the first off ramp, turn left over the overpass, go a couple hundred yards to the T intersection, turn left and go a half mile or so and camp where ever you want to. There are around 50 private campgrounds in and around Quartzsite if you need full service hookups; most in town are on hwy 95 north of main st. [business I 10], and there are a few on Main St. west of hwy 95.
Don't know what is going on this late in the season, but stop in at the Chamber of Commerce trailer on Main, one block west of hwy 95 on the north side of the street for information and handouts. We enjoyed some of the Jam Sessions at the QIA center [country and western], and the Library had some interesting programs a couple of times a months. The Library also has Wi-fi and computers if you need to check your e-mail, you have to ask for the code at the desk.
I just re-read your message, I thought you would be coming from the East; if you are traveling west then the directions would be take the second off ramp and turn right at the overpass. From the west you can also take the first off ramp and turn right, then right again on the frontage road and go about a mile to Cholla road, turn left for about a half mile and you are on BLM land. Hope you are not too confused by now