You need a Raspberry Pi Zero, an IcePi Zero available from CrowdSupply or Electrow, any Raspberry Pi Camera version 2 or 3, a camera cable and a male and a female header. The camera cable should convert between the standard 24 pin camera flexible printed cable socket and the Raspberry Pi Zero's 15 pin FPC socket.

The standard header configuration is male headers on the RPI Zero facing up, and female headers on RPI shield, the IcePi Zero, facing down. I prefer to do it the other way around. You can solder them, or if you are not comfortable with your soldering skills, what I am using is the Pimoni Hammer headers. Here is a blog posing about how to do it, scroll all the way down for how to do the female hat header.

If you are concerned about using hammer headers, here is an article reviewing the product. Basically it and the comments say that it works fine, and has some plusses and minuses. "Solder is not glue". In the automotive industry the fittings are press fit, solder does not survive temperature cycling. But the holes are a particular size, and the gold platting is a little thicker. Pimoroni and the article tested the electrical characteristics and all is fine. Be careful to apply equal pressure everywhere and to not bend the board. A vice woudl be the best way to do it.

Note that the back of the IcePi Zero is not flat. It has two buttons and multiple resistors. So to use the hammer header techique, you need to flip it over, much like is shown at the bottom of this page.