Connect the camera receiver to the audio/video (A/V) inputs on the VCR.
If your satellite receiver has an unused coaxial (like cable TV) input usually marked something like cable or antenna or ANT IN, connect the VCR's coaxial OUT connector to that. Then turn on the VCR and tune it to the A/V input you connected the camera receiver to (the method varies by VCR, so check the instruction manual). Then use the satellite receiver remote to select the local (cable) channel the VCR outputs on (usually 3 or 4).
Otherwise, you will have to buy something...
Cheapest would be a switchbox (either manual or remote-controlled depending on your budget and whether or not you want to get up and press a button when you want to view the cameras). Make sure it has two (or more) coaxial inputs and one coaxial output. Connect the satellite receiver to one input and the VCR to the other input. Connect the output to the TV. Make sure the VCR's output channel is set to the same channel you use to view the satellite receiver. Switching the input on the switch box will then select either the satellite receiver or the VCR (cameras).
Otherwise, break-down and buy a new TV.