I was able to capture video frames from the camera using AVCaptureSession according to http://developer.apple.com/iphone/library/qa/qa2010/qa1702.html. However, it seems that AV
AVCaptureVideoPreviewLayer is exactly what you're looking for.
The code fragment Apple uses to demonstrate how to use it is:
AVCaptureSession *captureSession = <#Get a capture session#>;
AVCaptureVideoPreviewLayer *previewLayer = [AVCaptureVideoPreviewLayer layerWithSession:captureSession];
UIView *aView = <#The view in which to present the layer#>;
previewLayer.frame = aView.bounds; // Assume you want the preview layer to fill the view.
[aView.layer addSublayer:previewLayer];