No you have to take the camera apart and unscrew the original lens ( there is a video about how to do it on a gopro camera in the link )
Peau have a wide range of lenses, most of them beeing the M12 fine thread, most dash / action / cctv cameras use.
http://www.peauproductions.com/collections/mega-pixel-lenses
You might allso be able to find lenses elsewhere on the internet, just have to be sure its the M12 fine thread ( there is no other thread thats simmilar looking and in size so little chance of buying the wrong kind of lens )
Just make sure its a good megapixel lens for at least 2 megapixel sensors, as you can see some of ther lenses is for 10 megapixel, and higher is no problem at all, if you can find it a 25 megapixel lens would be fine too.
The original lenses in cameras are often secured with hot glue to make sure focus dont shift, and a fjew use a set screw in the socker where you screw the lens into.
You do not want to use any super glue, first of all it will never come apart if you need to change somthing and the fumes of that stuff ruin lenses coating.
There should also be plenty of how to videos on leans-change on things on youtube, action camera or dashcam in this regard its pretty much the same.
The camera housing on the SGZC12RC should come apart pretty easy, i suspect its only a couple of screws that make sure the plastic shell stay in place around the little PCB with the lens on it.
I think
@niko have a picture of the camera unit taken apart.
There is the click on lenses for phones, but i doubt they will work on a dashcam even if you are able to click it in place on the dashcam. Allso i suspect those kind of click on tele lenses are pretty low grade, and "ruiening" a fine camera like the SGZC12RC with a poor lens would be a shame.
You might want to take a look at the 90 deg lens Gitup sell for ther GIT2 actioncamera, they allso sel it loose and it is a alright lens it seem ( about 4 mm if my memory serve me right )
PS. when focussing lenses like this the sweet spot is pretty small, lucky the SGZC12RC have a screen so you can use that when dialing in the new lens.
For the last micro ajustments you have to make a mark of some sort on the lens ring and then ajust 0.5 mm back and forth to nail it ( looking at the recorded footage on a full size monitor as i doubt you can see the little stuff on the small monitor )
It do take a little trial and error, so i would not assembel the camera unit again before you are sure you have the sweet spot and have secured the lens to the socket with a little hot glue or tightening the screw if the SGZC12RC have one of those.
I dont think you have to take a drive for each test, you might be able to just hold the PCB in the hand in the car while you record somthing across the street, house numbers fences and so on should give a indication if you are on or near to the sweet spot.