A camel safari is not a hardship. The camels will carry everything - your tents and beds, your food and beverages and even - if you so wish, you! Your guides are people of the area, friends of the villagers, concerned only for your welfare and security.
Kisima suggests the following itinerary:

Drive north, past Mt Kenya, stopping for lunch at the Kentrout Grill. Then, on to your luxury tented camp. Overnight: Lodge / Camp

An early start and then drive north into the tribal lands of the beautiful Samburu people where your camel safari begins.
Overnight: Lodge / Camp

Each day is spent walking in the morning, searching for wild animal tracks, enjoying the scenery and the flora. Your camp is carried on your camel and there is plenty of time for relaxation or further exploration in the vicinity of the campsite.
Overnight: Lodge / Camp

An early start and drive to Lewa Downs to catch a scheduled flight back to Nairobi at the end of your safari.