The Collaborative International Dictionary of English v.0.48:

Encamp \En*camp"\, v. i. [imp. & p. p. Encamped (?; 215); p.
   pr. & vb. n. Encamping.]
   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.
   [1913 Webster]

         The host of the Philistines encamped in the valley of
         Rephaim.                                 --1 Chron. xi.
                                                  15.
   [1913 Webster]