My question is how would I go about positioning the camera feed in the same window?
Do your best to ignore some of the variable names as i've scraped some things out from current project.

# -*- coding: utf-8 -*-

# Form implementation generated from reading ui file 'camera.ui'
#
# Created by: PyQt5 UI code generator 5.13.0
#
# WARNING! All changes made in this file will be lost!

import cv2
from PyQt5 import QtCore, QtGui, QtWidgets


class Capture():
    def __init__(self):
        self.capturing = False
        self.c = cv2.VideoCapture(0) #where camera feed is pulled from

    def startCapture(self):
        print ("pressed start")
        self.capturing = True
        cap = self.c
        while(self.capturing):
            ret, frame = cap.read()
            cv2.imshow("Capture", frame)
            cv2.waitKey(5)
        cv2.destroyAllWindows()
        
    def endCapture(self):
        print ("pressed End")
        self.capturing = False

class Ui_Camera(object):
    def setupUi(self, Camera):
        self.capture = Capture()
        Camera.setObjectName("Camera")
        Camera.resize(1099, 623)
        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred)
        sizePolicy.setHorizontalStretch(0)
        sizePolicy.setVerticalStretch(0)
        sizePolicy.setHeightForWidth(Camera.sizePolicy().hasHeightForWidth())
        Camera.setSizePolicy(sizePolicy)
        self.centralwidget = QtWidgets.QWidget(Camera)
        self.centralwidget.setObjectName("centralwidget")
        self.ControlBox = QtWidgets.QGroupBox(self.centralwidget)
        self.ControlBox.setGeometry(QtCore.QRect(590, 20, 491, 571))
        self.ControlBox.setTitle("")
        self.ControlBox.setObjectName("ControlBox")
        self.groupBox_4 = QtWidgets.QGroupBox(self.ControlBox)
        self.groupBox_4.setGeometry(QtCore.QRect(10, 20, 231, 251))
        self.groupBox_4.setAlignment(QtCore.Qt.AlignCenter)
        self.groupBox_4.setObjectName("groupBox_4")
        self.zoom_out = QtWidgets.QPushButton(self.groupBox_4)
        self.zoom_out.setGeometry(QtCore.QRect(20, 70, 75, 23))
        self.zoom_out.setObjectName("zoom_out")
        self.zoom_out.clicked.connect(self.capture.endCapture)
        self.Camera_start = QtWidgets.QPushButton(self.groupBox_4)
        self.Camera_start.setGeometry(QtCore.QRect(20, 20, 75, 23))
        self.Camera_start.setObjectName("Camera_start")
        self.Camera_start.clicked.connect(self.capture.startCapture)
        
        self.groupBox_6 = QtWidgets.QGroupBox(self.centralwidget)
        self.groupBox_6.setGeometry(QtCore.QRect(10, 20, 571, 571))
        self.groupBox_6.setAlignment(QtCore.Qt.AlignCenter)
        self.groupBox_6.setObjectName("groupBox_6")
        self.cameraFrame = QtWidgets.QFrame(self.groupBox_6)
        self.cameraFrame.setGeometry(QtCore.QRect(10, 30, 551, 521))
        self.cameraFrame.setFrameShape(QtWidgets.QFrame.StyledPanel)
        self.cameraFrame.setFrameShadow(QtWidgets.QFrame.Raised)
        self.cameraFrame.setObjectName("cameraFrame")
        Camera.setCentralWidget(self.centralwidget)
        self.statusbar = QtWidgets.QStatusBar(Camera)
        self.statusbar.setObjectName("statusbar")
        Camera.setStatusBar(self.statusbar)

        self.retranslateUi(Camera)
        QtCore.QMetaObject.connectSlotsByName(Camera)

    def retranslateUi(self, Camera):
        _translate = QtCore.QCoreApplication.translate
        Camera.setWindowTitle(_translate("Camera", "Camera"))
        self.groupBox_4.setTitle(_translate("Camera", "Camera"))
        self.zoom_out.setText(_translate("Camera", "Stop"))
        self.Camera_start.setText(_translate("Camera", "Start"))
        self.groupBox_6.setTitle(_translate("Camera", "Camera Feed"))


if __name__ == "__main__":
    import sys
    app = QtWidgets.QApplication(sys.argv)
    Camera = QtWidgets.QMainWindow()
    ui = Ui_Camera()
    ui.setupUi(Camera)
    Camera.show()
    sys.exit(app.exec_())