You can rotate the video clip as if it were a 2D 'card' or flat plain, but if you wanted some realistic rotation you would need to roto and separate some of the different elements in the shot, then move them forward/backwards in Z-space, so that the parallax is correct. You would no doubt then need to paint in some of the background to fill the holes left around you foreground objects. Not a quick job, but quite achievable if it's only a small camera rotation.
Your best bet is to have a play with MochaAE for tracking/roto of your footage and then look in the podcasts/tutorials here on the Cow for ways to create the depth. Andrew Kramer did something with an Egyptian still landscape, although it's the same basic principle. Also, there is a stereoscopic workflow video from someone who extracted depth from Nosferatu on the Imagineer website that might be useful to you.