PDF to Indesign

Let's make a distinction between getting a facsimile copy of the formatting from the PDF, placing a PDF into InDesign and getting the bare-bones content out of a PDF for formatting into InDesign.

So far as getting a 100% accurate translation from PDF to InDesign, I would rethink this solution. There are two paid solutions, the first one has been mentioned, the other is offered by Markzware: Markzware PDF2DTP Adobe InDesign plugins convert PDF to InDesign INDD

Barbara's solution is good for taking a PDF into InDesign but it will treat the PDF as an image/series of images. For long documents such as a book, a script such as multipageimportPDF (available from the indesignsecrets.com website) will certainly help.

If you need to get the text copy out of a PDF into an InDesign file, you can use the black arrow tool in Acrobat to select the type and copy and paste it into InDesign. This typically does one page at a time, but there's a trick to get all content in one fell swoop: How to Efficiently Select All the Text in a PDF Document: 10 Steps

If push comes to shove and you need to get ANY content out, you can try saving the PDF as a word file in the latest version of Acrobat DC and then importing the word file into InDesign. It won't be a facsimile copy and it will be a mess, but it's a start.

Ultimately, if you have an opportunity to get the original InDesign file that created the PDF, get that. If the PDF was created with any other software, then any of these solutions may need to be employed.