That said, the most interesting part is probably driving in the sand. All companies propose a full package including:
Pick up and drop off
4x4 drive in the desert
Diner + Belly Dancer at a camp
The first part is quite nice and I have to say that driving on the sand is quite impressive.
I find the second part (Dinner at the camp and belly dancer) to be deceiving. Indeed, it turns out to be a very "touristy" attraction where you can listen to David Guetta in the middle of the desert in a camp claiming to show the culture of the country...
There are more than 20 companies that propose the Desert Safari trip in Dubai and more than 10/15 camps in the desert. Many of them have good websites and can be found easily. Prices are relatively cheap (160AED per person) so it is definitely worth a try!