Because there are so many possible ways to do this, and depending on where on the Front Range many people may live, we'll leave it to you to figure out how to get to state highway 119, also known as the "Peak-to-Peak" highway which along with SH72 and SH7 connects Blackhawk, Nederland, Ward, Allenspark and Estes Park. If coming from the west on I-70, you'll probably want to take the newer Central City cutoff just east of Idaho Springs, to Central City, Blackhawk and SH119. Out of Estes Park, the road you want is SH7. North of Nederland, SH119 switches to SH72. The goal is to get to Ward. Just north of the turn for Ward, turn west onto the Brainard Lakes Road (FR112). The poorly-maintained, paved road climbs up some switchbacks and then heads generally west and comes to a new, large parking area on the right with facilities. This new lot serves as a trailhead for some trails that take you on back to the Brainard Lakes, but starting from here will add significantly to overall mileage if heading back to the main group of peaks. Just past this lot, there is an entry, "fee" station. Cost for admission is $10 with various government issued passes allowing free access such as a "Senior Pass." During off hours, you'll need to self-register.
Continuing past the entry station, in a couple more miles you'll come to another turn on the right, just before the main Brainard Lake for the Pawnee Campground, and just past there will be another road on the right that will take visitors into yet another large parking area with toilet & water facilities and a wheelchair accessible picnic area. Continue driving west to the west end of Brainard Lake. After crossing S. St. Vrain Creek, the road forks. Take a left turn, then shortly after, do NOT take the next left (which goes to the Long Lake TH), but continue straight (Veering right), cross an open meadow and then drive up to the Mitchell Lake/Audubon TH parking area. Being the closest parking to the main trails, both the Long Lake lot and this lot fill up the earliest on summer weekends.
WARNING: Because of the popularity of this area and its close proximity to the recreational-seeking hordes of the Front Range, the parking for Brainard Lakes quickly fills on summer weekends to the point where later arrivers may have to park far back from the trailheads. Arrive Early! Think - Longs Peak parking problems.
The only close-by camping is the Brainard Lakes Campground, a fee area maintained by the Forest Service. Presently, advance reservations cannot be made, so finding an open campsite between Memorial Day to Labor Day can be difficult. No camping is allowed beyond the entry station in any other area. The Indian Peaks Wilderness does allow backcountry camping, but by permit only. If that's your choice, you can begin your research at the link below. Because of the mixture of private and forest service land all around Ward, it's very difficult to find any at-large spot where you can pull off and spend the night without possibly violating someone's private property or being so close to such, that you have no privacy. The nearest other National Forest campgrounds are Camp Dick (less than 10 miles north on 72) and the Rainbow Lakes, south on 72 and then up CR116.
http://www.fs.usda.gov/detail/arp/passes-permits/?cid=fsm91_058238