Typically, there are home camps, day camps and overnight camps.
Home camps are hosted at your school and are specifically for your team. Day camps are hosted at a local university during the day, but your team commutes to and from the university each morning and evening. Overnight camps are hosted at a local university and your team will stay in the dorms or a hotel at night. Camps can vary anywhere between 1 to 4 days depending on location and company.
During summer camp, you will learn cheers, dances, and improve your stunting skills. Also, your team will work on team unity and performance skills. It will be a lot of hard work, but also very fun.
Go in with a good attitude,be prepared to try new things,and don't get frustrated if you don't get something right away. Camp is about learning new things and pushing your limits. Definitely bring a big water bottle with you during the day and pack lots of socks/sports bras(they will get sweaty and you'll want to change at lunch/dinner time).
Here's some examples of what an NCA camp schedule looks like:
http://nca.varsity.com/campschedules.aspx