It's very ... easy and complicated. Here's the easy way.
First, we'll need to track the camera in the environment.
Blender is a fantastic tool for this:
Video from https://www.hollywoodcamerawork.com
Then we embed your video into your 3D scene:
Then, we remove the green screen (I re-added the props out of the green screen so you can see):
Fine but, we see that video and 3D don't match for now.
Finally, it's time for compositing.
A quick render is done (without color grading):