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Hello, sorry for the delay. I noticed your open question, Do you still need help? also.. if so, can you send the size of the van? is it say a E350? etc
on the drivers side, left side of the trans is a switch where the shifter hooks to the trans. You will see a electrical plug, You are looking for the BLACK/PURPLE wire, That is to the backup lamps. there are NO taps inside or any other location . You have to either go directly to a backup lamp and tap there OR have to tap that wire at the switch and run a wire. I wish there was a remote spot to make easier but is not. this link shows the elctrical plug at top left of the picture where that wire is, You splice into the black/purple wire
I did my best to explain, get under van, look on left side of trans, you will se e a electrical plug, Look for the balck/purple wire, tap your camera wire into that and run the wire as you can,You asked how to tap in and I have sent that info. I am here to help but not much I really can offer,