What is the best way to hook up a security camera to my TV?

[Kristina]

In my new home, my front door does not have a window or a peep hole on it. The door sits back in and there are windows on either side of it. I want to set up a camera in one of the windows on the inside that looks down on the door so it can show me who is at the door without me having to look out the window myself. Is there any way I can hook up the camera to streem constantly to one of the video outputs on my tv like video 2 or 3? My idea is that when someone knocks and I am not expecting anyone I could just switch my TV to video 2 or 3 and see who is at the door. Is this possible? If so do I need a certain kind of camera or could I use any kind?
I'm mainly doing this because my boyfriend's mom stops over, unanounced, constantly and sometimes we need to clean up a bit before we let her in.