How to get data from related custom module to show in contacts?

I am working on a project for a summer camp that needs to be able to track information about campers. The parents are Contacts, and I have created a custom module for Campers with a relationship to Contacts. I created a relate field to select the campers' parents and added the new module to the nav bar where I want it to be. Now, I want the Contact detail view to show associated campers similar to how it displays associated activities, documents, etc. How do I implement this idea? I am using SugarCRM 6.5.23