The former EastEnders star surprised Stacey, 30, with the "new home on wheels" after heading up to Whitley Bay to go and collect it.
And while Loose Women babe Stacey wasn't very excited about it, her sons Leighton, eight, and Zachary, 12, couldn't wait to experience van life.
Taking to her Instagram story, Stacey told her 3.7million followers that they had wanted to sleep in the van outside.
But she and Joe hadn't been able to decide who would join the boys, so they played a game of Rock, Paper, Scissors.
She shared a video of them snuggling up in the campervan watching a movie, before waving them off as she headed back inside with little Rex.
The video had the caption: "So... we went to a boot sale, came home, got fish and chips and sat in the camper on the drive.
"I lost my phone for most of the day and have no pictures or videos.
"The boys wouldn't leave and wanted to sleep on the drive so me and Joe did Rock, Paper, Scissors on who had to stay with them."
In another video, Stacey could be seen waking up with Rex, with the little lad smiling for the camera.
She wrote over the top: "Mummy won. He chooses rock every time.
"Now me and the pickle are up and about to wake them up ready for school."
The X Factor babe went on: "They actually wanted to park up outside their school and just walk in."
Stacey went on to share clips of the lads having breakfast on the van in their school uniform, before she got on with her day.
Over the weekend, Joe surprised Stacey with the campervan and she joked she didn't think he'd actually go through with his plan of buying one.
She explained she'd spotted it outside the house but had been so tired she assumed it was someone else's and they'd parked up and gone to a pub.
But the day before, actor Joe had excitedly got on a train to Whitley Bay to pick up the custom-made camper.
He gave a mini tour of the van, which includes a small kitchen area, built in fridge and a comfy looking sofa.