As far as taking your van out to Kelly Point - beware! Not a place to take a vehicle unless you have others along...and a pick and a shovel and maybe even a chainsaw! Very, very rough - as they said above, took 10 hours to go 30 miles. Been there twice but I camped at Oak Grove and rode the dirt bike from there.
You might try Kanab Point instead. Much easier to get to - only about the last 4 miles is a bit rocky and overgrown with trees. (Why is it that once you cross into a National Park all road maintenance ceases???) To my mind, the views are much better than from Kelly Point anyway. You'll need to get a back country permit to camp there and remember, this area is ~ 6,000 in elevation so in October beware of the weather. Snow is entirely possible and rain can make the roads impassable. But you can camp right on the point overlooking the junction of Kanab Creek and the Colorado River which is visible below. Here's some shots from last year.
My rig parked on Kanab Point:
Some of the views from the point:
Zooming in on a set of rapids on the Colorado below:
Looking up Kanab Creek Canyon at sunset:
Kanab Point at sunrise. Mt Sinyella upper left.
The road to access Kanab Point starts just east of Pipe Springs National Monument and for ~ 30 miles is a good graded road (except for some washboards in places). Then it gets a bit more primitive but not bad until you reach the National Park boundary. If you have a good GPS unit like a Montana that will load tracks I can sent you the track of how to get to the Point.