Sounds like you're in for some exciting times with the daughter.
As already mentioned, some of the nicest folks ever are to be found at CGs. You've already made the first right move and that's joining the forum. There's just so much expertise here you won't believe it... and everyone is willing to help.
Yes, it is safe for two ladies to travel together in their RV... using the same good common sense you use in other aspects of your life...ie Don't pull off of the highway late at night and park under some dark bridge for the night.
We started four years ago and now have >900 CG nights, 34,000 miles, and 34 states under our belts and never once have we felt the least bit "unsafe" in a CG.
People you will meet in CGs are among the most helpful you'll find anywhere. Don't be afraid to introduce yourselves to a fellow camper and ask for help. Our first ever RV (same one we have now) is a 40 foot diesel pusher. We took it on a shake down cruise for a weekend at a CG about 40 miles from home to get used to doing all the things we were going to have to learn how to do. They didn't have pull thru sites so I was going to have to back in.
I threw myself on the mercy of the lady at the check in desk. I explained I was a greenhorn and asked if there was anyone around who could help me back in the coach if I.... well, if I had too much trouble.
She said no problem but with my DW (dear wife) guiding me back we nailed it the first try.
Feel free to tell us more about how you hope to use your rig and how you like to camp. You can also post specific questions in any of our many forums to learn more about the pros and cons of any particular rig you might be looking at.
Best of luck to you both.