Carol,
You will want to park outside Boston and take a car or train, if available, into the city. From what I remember there are quite a few one way streets and some very narrow ones. Normandy Farms is a popular campground outside Boston. Not sure of the exact distance. I see Black Bear campground advertises the commuter rail to Boston. It's in Salisbury, MA. Again I don't know how long it would take the train to get there.
If you are interested in history Sturbridge Village is probably on the way. It's at the junction of I-84 and I-90. It's a recreation of a 1700's village. Haven't been there in years but it was very well done. Guides in period dress staff many of the buildings and even do some of the work as it was done in those days.