Hi;
I don't know for sure that it's the same on the Zafira, but on the Astra and Corsa there is a switch near the front of the gearbox... near the clutch cable arm, with a cable going into it. The mechanical action of putting the gearshift into reverse causes somthing to hit the switch making the reverse lamps come on.
I bought one yesterday for a Corsa, cost £4.00 from a motor factors. If yours is the same you will need a long reach 19mm socket to remove the switch and re-fit the new one.
Mike-B, April 2008