Unicut Media shows how to track the footage, then add and render an object into the scene.
Many apps can track these days, some better than others. If you need something quick and dirty, something like Ae may just be the thing, but if you need a bit more control over what you are doing, something like Cinema 4D is perfect.
Check out this tutorial from Unicut Media that shows the workflow for tracking footage in Maxon Cinema 4D and then shows how you can add and render an object into it using Octane. The tutorial covers tracking the footage, arranging it in 3d to match the proportions, rendering it with Octane, and doing the compositing in AE.