you will need a wall connection to 24 volts AC adapter, you can strip the ends and feed them into the two holes that way 24vac
it’s probably composite video over bnc so if you want rca then you will want a bnc to rca adapter, it’s the same signal but just different connector
as for the “lens” port, some lenses have motorized focus and aperture, if you have a lens on there that doesn’t have a wire sticking out then you don’t need to plug anything in there.