Open the RAW or DNG file in Photoshop as a Smart Object. Then save as a PSD file. Place the PSD in InDesign with File > Place
InDesign cannot place RAW files. However, if you use the workflow I suggest, you can still edit the RAW/DNG files if needed. To edit, choose Edit Original from the InDesign Links panel, and the PSD image will open up. Then double-click the smart object and it will open in Adobe Camera Raw. Saving the changes in PSD will update them in InDesign.