You didn't state where you are located or where you want to go.
There are a million places in PA where this would be enjoyable. Mostly, the biggest hold up is the camping end of things, not the fishing.
In the national forest (NW PA), this is 100% legal no questions asked, and there are plenty of places you can do it. If interested, let me know, and I can help with specifics.
State forests have a similar set up, but the requirements for the camping end of it are a little more strict. Will you have more than 10 people total?
If not, it's considered "primitive camping". You don't need a permit provided a bunch of requirements are met. i.e. 1 night only in a given location, within certain seasons, fire restrictions, etc. If any of those don't fit, you need to get a permit from the DCNR district office which controls that forest.
If more than 10 people, it's considered "group camping", and you definitely need to get a permit. Typically they'll want to know dates and approximate locations, I can't recall if there's a nominal fee. But they're gonna be a pretty easy to deal with.
State game lands are generally a no-go for camping. They do offer limited overnight camping, but the rules are draconian if you're purpose is actually camping. All you can really do is throw up a tent for the evening in the backcountry, meant for thru hikers. No fires, no multiple days, you have to be X distance from roads, etc.
And then there's private land, which you deal with the landowner and we can't help ya there.
IMO, if within range go to the national forest. If you're on the eastern side of the state, focus on state forests, find your stream (this board can help), then contact the DCNR district office and ask them what you'll need. They'll be helpful.
