i video'd a grandaddy show back in august, i hopefully plan on doing super furry animals in february. The venue i'm doing it at i go to quite a bit, i know security and i know exactly where to go...which is usually in the balcony right above the soundboard. with only one camera, i try not to zoom in too much on any certain thing. Just keep it wide, it might be kinda boring, but you get to see the whole concert, not just one member of the band. I set the camera on edge of the balcony about a foot away from where my mics are clamped, unfortunately i don't have audio in on the camera, but since the cam and the mics are pretty much in the same spot, its easy to sync the two up.
keep in mind that you're gonna have to stealth the cam a lot more than mics. A lot of bands that don't mind taping audio, aren't for video. so if you want to set up a multicam operation, it'd probably be best to get approval before hand.
ed