Yep CRP/WRP is largely geared towards removing ground from Ag practices and restoring to a semblance of grasslands/wetlands. But there are other options such as the Environmental Quality Improvement Project (EQIP) which is essentially a cost share/fund provision for performing land management work like invasive species removal, tree/shrub management, prescribed burning, native seeding, etc.I would add that getting into a formal CRP contract will be difficult/impossible if there is no crop history on the land you intend to improve. In addition, the CRP process is a competitive one, and there are no guarantees that your application will be approved. So like others have said, you may need to investigate other state and federal programs.
For example, I own 10 acres of pasture connected to my acreage. It has been in hay production for more than 15 years and half of it is erodible. However, when I inquired with our FSA office about CRP, without knowing the original planting date and having documented crop history (number of cuttings, number of bales, etc...) I wouldn't be able to complete the application. Basically, I would need to tear it all up and start over to build the crop history required for the government to calculate the rental rate if it was accepted into the program. The farm history also has to fall within the specific farm bill window to be eligible for the program.
Bottom line, there is a ton of red tape and requirements to get into CRP. I have less experience with the other programs, but there are "strings attached" any time you partner with a state or federal agency. I'm not saying this to discourage your effort, just emphasizing the need to go in with eyes wide open.
Good luck!
So eyes open and be willing to explore a variety of options is definitely key! Each program has different requirements.