You need 3 keyframes:
1) Frame 1 -- automatically generated when you add the Camera (make sure you are not using Preview camera -- can't be keyframed)
2) Copy keyframe at Frame 1 (click on dot in 'Transform' channel of Camera timeline, then Ctrl-C) - it should turn green. Move to Frame 300 (assuming 5 seconds @ 60 fps) click in Camera Transform channel, and paste (Ctrl-V). This will hold the camera for 5 seconds
3) Move to final frame (frame where you want camera to zoom out to) and position camera as desired. Keyframe will be automatically generated and interpolated from frame 300 to final frame
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See all the G-Tools Plug-Ins available for iClone here: G-Tools Plug-Ins