Any tips for dropping kids off at all day daycare/camp for the first time?

Your child will cry. The best thing to do is drop him off, hug and kiss him and then leave. Don't delay it. He's going to cry and you will feel like a bad parent for leaving him crying. But you aren't. More than likely he will cry for 5 minutes and then stop. But, the sooner you leave, the sooner he can stop crying. The daycare people are trained to comfort him and distract him.