Yes an RV, Motorhome, Camper Trailer, Travel Trailer etc can be hooked up to a house.
All you need is an RV plug on the outside of the house or on a pole with the 30 AMP or 50 AMP RV electrical hookup.
Then you can hook the water hose up to the spigot and then attach your RV sewer hose to your sewer line using the clean out for the sewer line or the install a new fitting to allow the RV sewage to go into your sewer line.
At my house I have my travel trailer hooked up to the sewer line and electricity and water all the time when it's not being traveled with.
Then if company comes over and they need an extra place to stay they can stay in the travel trailer if there's no room in our house for them.
Just check with your city or county because some places may have ordinances against keeping travel trailers or RV's in your yard or driveway and hooked up to the utilities.