Many 'boy scout' type manuals have been written on survival in the bush, usually by military veterans. If you are stranded with a convenient multi-purpose knife, then these useful tomes will describe how you can build a shelter from branches, catch passing animals for food, and signal to the inevitable rescue planes which are combing the globe looking for you – whilst avoiding the attentions of hostile forces.
In Zambia, bush camping is usually less about survival than comfort. You're likely to have much more than the knife: probably at least a bulging backpack, if not a loaded 4WD. Thus the challenge is not to camp and survive, it is to camp and be as comfortable as possible. With practice you'll learn how, but a few hints may be useful for the less experienced: