Lance, we camped at this location.
http://maps.google.com/maps?f=q&hl=en&geocode=&q=33.0701,-114.6871&ie=UTF8&z=12&om=1
I didn't take any waypoints. Both roads in were on the gps unit already.
As far as getting to the camp, there are two ways of getting there. Indian Pass Rd. and Picacho Rd. from Winterhaven. If you're coming from Arizona, then i recommend Picacho Rd. It's a little longer though. I dont remember what exit it is off the 8 Freeway. Im sorry, i just looked at my GPS and found the road off the highway and made my way over

But its like the first or second exit off the 8, when traveling eastbound into Winterhaven. Then you head north on Picacho Rd. It turns into dirt and you take that all the way into the park approx 26 miles. After arriving in the park, make your first left to 4-S Beach Camp. It's going to be like 8 miles. After that approx 8 miles you'll come to a fork in the road (signs posted) make a right and head off to 4-S. You will run straight into the campground. Its hard to get lost. If you have your GPS with you all this should be on your GPS. Its on google earth so it should be on any GPS on the market.
EDIT: Here's the exit for the main entrance. Exit Winterhaven Drive off highway 8, make almost like a u-turn and it will begin to head north. Take that all the way to the park.
Hope this helps a little bit. Let me know if you want to know how to get there via Indian Pass Road.