As someone who spent many nights in a tent while growing up, I feel your pain. Things normally do get better by the 2nd, 3rd, or 4th night, but that first one is always a pain for me. And when I was doing it, we didn't have 2 inch air mattresses, we had the 1/4 in foam pads. Ha ha. It was important to get a spot that had lot of natural padding underneath it. Otherwise you were just sleeping on rocks.

Hopefully you had fun even though you didn't get a lot of sleep the first night. Maybe you still got out there and had a great time exploring... and appreciating the camp coffee. :D