Barb -
I do self-contained touring, sometimes with panniers, sometimes with a trailer. There are quite a few of us wandering on our bikes, but in the overall scheme of things I suppose the numbers are pretty small. Seems that more people are interested in supported tours than self-supported. I've done both, and my preference right now is self-supported.

You might be able to find some ideas for routes in your area by looking at some of the journals at crazyguyonabike.com. There are over 1000 journals there about touring (including a few of my own that can be accessed at http://www.crazyguyonabike.com/denisegoldberg). My own experience doesn't include anything in Pennsylvania except the small stretch along Lake Erie. I'll be very interested in hearing about your plans and your trip. I think it's awesome that you want to introduce your daughter to touring.

--- Denise