How to make the camera follow the character like in e.g. tomb Raider ?

I have a small script that uses Character Controller to move the character on the scene and now I would like to make the camera follow the character like in Tomb Raider or other third person perspective game.

How can I do this ? How can I access other object’s position and rotation (camera) ?

You can access the main camera’s transform like this: Camera.mainCamera.transform
(Followed by .position or .rotation)

To access other objects, you’ll need a reference in the script. http://unitygems.com/script-interaction1/. To get the camera to behave like a Tomb Raider one will have to be up to you. Unless someone is aware of a similar script lying about.