Send an email to Abbie Leonard, the harbormaster, and Brenda of Shay, town clerks in the town office, or call. That way you're bound to get someone quickly.
They'll get you the paper work. It's a great idea to get on the waiting list, the fee is low(15?) to be on the list and if you're not ready, you can stay at the top of the list for the next year. I think there are some spaces opening up soon and the list may not be that long, or maybe there isn't one. Fee still less than 200/season, you supply mooring gear.
I prefer Rockport over Camden as there is ample and close parking in Rockport, public dock space is usually open for loading and unloading and facilities, showers, laundry, pump out, are top notch. Both are terrific to sail out of with the winds.
Let me know if you need more help.
http://www.town.rockport.me.us/index.asp?Type=B_BASIC&SEC={DCF07874-CC82-40FF-B079-34DC2EA35A20}