Look at camp hidden meadows in WV. It is not a sports camp but they have rock climbing and river rafting among other things.

I heard some good things about UVA's summer program SEP. Planning to send DS to it this year.

Here is the link:
http://curry.virginia.edu/community-programs/student-enrichment/sep

He's been away from home before but never in a traditional camp setting, but he's interested in trying one out.

He loves sports and plays baseball and basketball at a travel level. He's very comfortable in a sports setting but can be kind of shy.

Ideally the camp would be within a two or three hour drive of DC.

Any recommendations?