Yeah, to charge a house battery from the alternator, you'll need to hook that battery to the alternator, or to the cranking battery itself, which is connected to the alternator. You can do it directly, but when the engine isn't running, then the cranking battery and the house batter are still connected, meaning if you run the house battery down, you're running the cranking battery down, as well. A battery isolator isolates the two batteries from each other, connecting them when the key is turned on and the engine is running, and disconnects them when the engine is off, preventing you from killing the cranking battery.
From where the alternator connects to the cranking battery, you hook a positive battery cable to it, and then run that to the isolator, and then go from the isolator to the house battery. That puts the isolator between the cranking and house battery, and a solenoid relay in the isolator breaks the connection when the engine isn't running, and connects them if it is.
You can run the cable from the engine compartment into the van via a small drilled hole, or through an existing hole in the firewall or some other place that it exists. You can also use alligator clamps to connect to the isolator, I guess, but not sure if I'd recommend that while driving. If one slips off then you've got yourself an electrical hoe down under the hood.
Do NOT expect to be able to run an electrical space heater off of a single battery, even a high dollar AGM battery. A 1500 Watt space heater draws 12.5 amps at 120 volts, and when converted to 12 volts by an inverter that becomes 125 amps. You'll do good to get half an hour with a 100 amp hour battery. In order to run a 1500 Watt space heater for 8 hours you will need a 2000 amp hour battery bank. If you populate it with 100 amp hour deep cycle batteries, that's 20 batteries and 1300 pounds. Give or take.
For someone like you, driving someone else's van, installing a battery along the wall of the van behind the seat isn't much of a problem. Install the isolator and run the cable, plus one to ground the battery to the vehicle's frame near the battery, and you can use an inverter and 12-volt loads right from that battery. But it won't be a battery that will keep you warm. It'll be a battery that can run a computer, a TV and some lights, but nothing with resistive heat like an air conditioner or an electric heater (it will run an Espar heater, however).
You have to know the Wattage or amp draws of each appliance, and for how long between fully recharging the battery you'll use them for, to determine how big of a battery bank you'll use. For most people, one or two batteries is plenty.
Go here and read 'em all. That should get you started. But for what you want to do, it's pretty simple. But a lot of the links below will give you an idea of what you can and can't do with a battery bank, it will bring expectations in line with what's practical.
If you really and truly want to run a space heater, then you'll need a generator. There are lots of variations, but the only way to really and truly stay warm in a van or truck is with a generator running a heater, an Espar heater, or to idle. Everything else is a kludge at best, and some of them are flat out dangerous.
http://www.expeditersonline.com/forum/truck-talk/22660-batteries-crankinig-amps.html
http://www.expeditersonline.com/forum/truck-talk/22537-our-batteries.html
http://www.expeditersonline.com/forum/22537-our-batteries.htmlhttp://www.expeditersonline.com/forum/truck-talk/36982-inverter.html
http://www.expeditersonline.com/for...um/37802-charging-batteries-finer-detail.html
http://www.expeditersonline.com/forum/truck-talk/38659-12-volt-electric-blanket.html
http://www.expeditersonline.com/forum/truck-talk/41288-thermo-electric-coolers-amps.html