Monument Valley lies on the Arizona Utah state line. The way to see most of the formations that are shown on this website is to take the 17 mile loop drive through the valley. This is a dirt road and in places is VERY ROUGH. It is helpful to have high clearance and I wouldn't try it if it has rained. The views are extraordinary. There are 11 stops along the road. Monument Valley is entirely on Navajo land and there is limited hiking available. There is only one hiking trail, the 3.2 mile Wildcat Trail which starts near the visitor's center and goes around West Mitten Butte. You can explore more of the park if you get a Navajo guide.
The tent camping is unimproved (no tables, fire pits) although there are bathrooms available. There are just cleared sandy areas among the sage brush. But again, the views are wonderful and sunrise/sunset can be spectacular. There are also RV campsites available.