First of all, tipping is completely at your discretion. If the service is not good, you do not need to give a tip. Some camps or lodges have a staff tip box. At other camps and lodges, it may be appropriate to give the head waiter or the manager a lump sum.
Generally speaking, you can tip the camp or lodge staff, usually giving a lump sum, and separately from that, you can tip your guide. It all depends on where you stay as tipping varies a bit at different camps or lodges, and it also depends on the details of your itinerary.
When you book your safari, you will receive a comprehensive information package, including guidelines on giving tips. When we meet you for the safari briefing, we can also tell you more about this.