I agree with Joe. US Customs are far friendlier. Any firearms you may be carrying, leave on the US side, no exceptions. ( not worth the hassle to import ) and generally not allowed . Passports are a firm YES , the kids only need proof of citizenship . If you have any potential police involvement in a negative way , stay on US side , they won't let you in.
It may be cheaper to stay on the Canadian side . And way less time out of your day. Crossing customs can be very time consuming , traffic and clearance at customs.
I'm not sure if there are National Parks near that crossing , ( worth investigating ) entry to the National parks is free this year , camping fees still apply. With exchange on the dollar being good for the US , a win for you .
Here is a link to Gov Canada site on the rules .
http://www.cic.gc.ca/english/visit/apply-who.asp