Here's one of my first tutorials. Someone had asked me to make a tutorial on this subject. So I decided to give it a try. 3 days and an hour of footage later.. I was still not happy with the results. however I broke up the tut into Parts.
Part one is about 17 mins.
I explain how to use the camera tracker. How to create cameras and solids within the tracking data as well as nulls. How to export that to cinema 4d.. Finally I show you quickly how to add geometry to your scene and how to sync it to your footage using the data we exported.. I hope this helps