You can use an adapter:
26 PIN RGB to CVBS (RCA) AV Converter for Volkswagen Factory Original Camera Output to Third Part OEM/After Market Head Unit DVD-in Cables, Adapters & Sockets from Automobiles & Motorcycles on Aliexpress.com | Alibaba Group
However the quality isn't normally that fantastic due to the conversion of the video signal.
The best option is to replace the camera with a composite camera.
The easiest is to use a converter.
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