There are many resources online where you can find a general packing list, including a printable list on REI's website. Your Scout's handbook also includes a list of items you might want on bring on a family or pack campout.
As a general guide, below are our recommended essentials:
Personal Items:
Tent
Tarp (or footprint for tent)
Stakes (usually comes with tent)
Sleeping pad or air mattress
Sleeping bag or blankets
Toiletries (including toothbrush and toothpaste)
Towel
Bug spray
Lantern
Camping fan (if hot)
Mess kit (bowl/plate and utensils)
Cub Scout Six Essentials (filled water bottle, first aid kid, whistle, flashlight or headlamp, sun protection, trail food)
Note: food should not be left in tents
Clothing:
Comfortable shoes (especially for hiking)
Underwear
Socks
Shirts
Pants
Pajamas
Poncho or raincoat
Sweater or jacket
Hat (if cold)
Group Equipment:
Dish soap and bleach
Trash bags
Mallet for stakes
First aid kit
Group Equipment for meals:
Camp stove or charcoal
Camp table (if no tables at campsite)
Pots and pans for cooking
Kitchen utensils (tongs, spatula, knives)
Wash and rinse bins
Paper towels