I like phishfood's idea, but first you would need to make sure that your septic tank has sufficient capacity to handle the additional water usage from the RV. I'm assuming it would count as one additional room. You could contact your local dept of health to find out what size septic tank you have (from permit records) and find out how many rooms that supports (generally septic tank size is determined by the number of bedrooms in a house because it is assumed to reflect the number of occupants).
If the tank is large enough, you could probably try to find a way to have the RV sewage hook directly in to your sewage system and bypass the holding tank.
I know in the city, the trailer parks have it set up so the trailers can drain to the city sewage system. It is probably a similar setup with an RV.
Although, if you do contact dept of health, it is something you can ask them about as a hypothetical situation.