I suggest a C-stand. It's a heavy-duty light stand with an extensible boom, normally used to hold video lights or studio strobes.
It's simpler to adjust and move around than something more permanent like a ceiling mount.
The advantage over a standard tripod is that
- It's taller, up to 3m (10') is common.
- The boom arm lets you offset the camera from the actual stand, e.g. to reach over a table.
C-stand, image from Wikimedia commons
C-stands are frequently rated for a load of around 10 kg (20 lbs), while a DSLR with lens is around 2 kg (4 lbs), so the weight should be no issue. It's no more than a standard studio strobe monoblock.
To attach the camera, the simplest option is probably a super clamp and a tripod head. (If you have something else to attach the clamp to, you could skip the stand.)
You'll probably also want a sandbag for the base of the stand (for stabilization) and may need to hang something on the other end of the boom as a counterweight, depending on the weight of the camera and how far you extend the boom.
See also this discussion on mounting a DSLR to a C-stand.