You can get to Yosemite National Park from the "Gateway to Yosemite," Merced, California. Although described as a sleepy town, Merced is anything but "sleepy." Less than two hours driving time from the most re-visited park in the US, this city becomes a hub for vacationers from all over.
Besides seeing everything there is to see in the surrounding areas, you have to spend some time in town. There's something for the whole family. Visit Applegate Park and Zoo. Let the kids have fun in the skate park in Applegate and then take in a live stage theater show downtown. You'll love biking on the many trails. Not far away is the Castle Air Museum, which is a must-see.
The motels or hotels are typical of those found in any city, but they certainly welcome visitors to the area and provide what you need to make your stay pleasant. There are many campgrounds and RV parks close to Merced and places for your RV within the city itself.
To get to Merced from Yosemite just get on CA-140 and follow that directly into town. Stay in Merced for the night before heading back to the park the next day.