First, there is no obvious way to automatically proxy between SOAP and REST.
REST is all about data/resources (in all shapes and colours) and very few operations, SOAP is all about operations with XML defined data.
But it should be rather straight forward to consume SOAP messages with Camel (for instance using Spring WS).
Then you could either work with raw XML (XPATH or XSLT) or perhaps perfeered by unmarshall it with JAXB to Java objects. This could be rather automated. See (http://camel.apache.org/spring-ws-example.html for a Spring WS, Camel and JAXB example). I also suggest that you use maven-jaxb2-plugin to generate the Java objects with JAXB based on the SOAP schemas.
Then you need some kind of lookup table to route between SOAP endpoints/methods/soap actions to REST services. This is a lot dependent on the structure of your REST services. Then calling RESTful resources with Camel should be trivial. Consider it HTTP or REST, whatever you like.
What you have to consider, and it is perhaps the most important part in this scenario, is if your REST services featuers other payload encoding than XML, for instance JSON. Then a mapping between XML and JSON has to be done. There is no real standard for that, but Camel can simplify that work. Camel will even feature an automatic conversion in the next release 2.10 (https://issues.apache.org/jira/browse/CAMEL-4930).