John,
You can get a train to Nowra and then bus from Nowra to Kangaroo Valley (
http://www.kangaroovalleytourist.asn.au/dir/bus_services_timetable) but it would be a fair walk from town to anywhere that you can "camp away from people".
EDIT: I just noticed that further down the bus timetable page I referenced above is a coach company that goes through Liverpool, this may be more convenient for you.
May I suggest something to you. You can hire kayaks/canoes from a company in the valley (
http://www.kangaroovalleycanoes.com.au/) and head up the Shoalhaven river. Since you are without a car this may work as the hire company provides transfers for you and the equipment. Find a nice spot on the banks of the lake created by Tallowa Dam, set up camp, fish, swim, eat, drink and be merry. It's not the cheapest option but it may work for you.
A guy I know has his own canoe and regularly heads up the Shoalhaven River from the Bendeela camp ground and reckons it is a great way to get away for a quiet weekend.
Cheers,
Michael.
Last edited by
michael_p on Thu 16 Feb, 2012 9:32 pm, edited 1 time in total.