If people, especially soldiers, are encamped somewhere, they have set up camp there. He made his way back to the farmyard where his regiment was encamped
live in or as if in a tent; "Can we go camping again this summer?"; "The circus tented near the town"; "The houseguests had to camp in the living room"
To form and occupy a camp; to prepare and settle in temporary habitations, as tents or huts; to halt on a march, pitch tents, or form huts, and remain for the night or for a longer time, as an army or a company traveling