If you have a Uconnect 5 system, then you will be receiving a pigtail adapter with a yellow RCA and two posi-taps. Red is the Camera Signal, and Black is the Camera Return.
You will be tapping to the Blue connector on the back of the radio unit. The Uconnect 5 has a few variations. If this is the Uconnect 5 UBD, then the blue connector will be on the back of the radio display. If the Uconnect 5 does not have the blue connector on the back of the display, then you likely have the UBL, or UBQ (These models specifically feature onboard navigation) and will need to follow the thick black cable from the back of the radio screen further into the dash, and that will lead you to the radio unit itself, where you can find the blue connector in the image below.
Tap Camera Signal (Red) to the Gray Wire with a Blue stripe.
Tap Camera Return (Black) to the Gray wire with a Yellow Stripe.