We returned earlier from a trip to Richmond for a wedding. Spent the weekend in
Pocahontas State Park, just south of Richmond. It's close to I-95 and a great park.
Lots of trails, for walking and bikes. Not at all expensive. No sewage hookup, but
easily accessible dump station. I don't know of any Virginia state parks that have
sewage hookups. We've stated at Lake Anna, Shenandoah River, Pocahontas, and First
Landing State Parks. All have been exceptionally well-maintained and very reasonably
priced. First Landing is a nice bike ride from Virginia Beach.

And, after letters to the state park director, many emails, and a letter to the
governor (all from many folks, I'm sure) the parks no longer charge a fee for pets.
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Ban idiots, not guns!