The Collaborative International Dictionary of English v.0.48:

Encamp \En*camp"\, v. t.
   To form into a camp; to place in a temporary habitation, or
   quarters.
   [1913 Webster]

         Bid him encamp his soldiers.             --Shak.
   [1913 Webster]

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]

WordNet (r) 3.0 (2006):

encamp
    v 1: 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" [syn: camp,
         encamp, camp out, bivouac, tent]