You would connect the same way as if you were in an RV park.
Now lets go with some concerns.
If you have a well setup that requires a pressure tank, get install before connecting.
If you have a variable speed submersible pump, you are better off. The pump will turn to provide water closer to what the rig's is require for the number of faucets.
Get a good quality pressure regulator. Connect it to the water spigot. When the pump with pressure tank runs it could have pressure switch setting too high for your RV.