A tent system includes a base, a canopy, and a frame system. The base is configured to mount to a vehicle. The frame system is coupled to the base and configured to expand and collapse the canopy. The frame system includes a first frame member, a second frame member, a third frame member, and a fourth frame member. The first frame member includes a first support and a first leg, the first leg configured to pivot about the first support. The second frame member includes a second support and a second leg, the second leg configured to pivot about the second support. The tent system can provide a folding mechanism to easily and efficiently open and close the canopy, increase an internal volume of the canopy, increase rigidity of the canopy, decrease setup time of the canopy, decrease a height of the base, and provide an automatic self-folding canopy.