First check that you have the latest default Dashboard program.
Check the pictures
here to see if you have the correct one.
If you already downloaded the default Robot Project with some of your changes, then the camera code will already be in it.
Then make sure your camera has an FRC account (username: FRC, password: FRC).
The camera then plugs into port 2 on the cRIO with a crossover cable (pink in the KOP).
The ring around the camera lens should light up green after a minute or two.