Several ways. Either change the configuration and add a stereo aux. or create a matrix out. Or even a group. Just be careful in making the correct connections, impedance matching and levels. If your camera has only microphone inputs you need to adjust the output to match that since the outs are line level. The RCA out is probably -10. That could also work.
Thanks! Could I go rca out to xlr directly into the camera?
That seems like the quickest way. This is for an event first thing in the morning otherwise I would create the mtx out.
You could if your cables are wired correctly but I would go out of a pair of XLR’s. Go to the I/O screen and select that pair to get L/R out. Set the camera for line in.