Let us consider a risky investment project/asset $i$ between time $t$ and $t+1$. Its return $r_{i,t+1}$ is unknown in advance (as of time $t$). (I will suppress the time subscripts as we will only ever consider the period between $t$ and $t+1$, thus $r_{i}$.) An investor can model this future return as a random variable, e.g. $R_{i}\sim N(\mu_i,\sigma_i^2)$*.
Suppose the investor already holds the market portfolio. Then we should also take the market return $r_{m}$ into consideration. We could model $\pmatrix{R_{i} \\R_{m}}$ together, e.g. as $\pmatrix{R_{i} \\R_{m}}\sim N\left(\pmatrix{\mu_{i} \\\mu_{m}},\pmatrix{\sigma_{i}^2 & \sigma_{i,m} \\ \sigma_{i,m} & \sigma_{m}^2}\right)$. Having specified the joint distribution (which does not have to be Normal; it is just an example) we can find the return distribution of a portfolio consisting of the market portfolio $m$ and the risky asset $i$ with some given weights. From the return distribution it is straightforward to arrive to price distribution at time $t+1$, given that prices at $t$ are known.
Given a utility function that takes wealth as an argument, the investor can determine which of the following two wealth distributions is more attractive in terms of expected utility: one arising from the market portfolio alone vs. one arising from the market portfolio plus the risky asset $i$ minus the price of the risky asset at $t$.
If we vary $\mu_i$, we can find a value that makes the expected utilities of the two alternatives equal. This value can be denoted $\bar r_{i}$ and called the required return.** We can then state that the investor will only be willing to invest into the risky asset $i$ if $\bar r_{i,t+1}\leq\mu_i$, i.e. the expected value of the actual return matches or exceeds the required return.
How does CAPM come into play? We could use it to model the expected return $\mu_i$ given the risk-free rate $r_f$, $\mu_m$, $\sigma_{i,m}$ and $\sigma_{m}^2$: $\mu_i=r_f+\frac{\sigma_{i,m}}{\sigma_{m}^2}(\mu_m-r_f)$. It may not be all that helpful here, though, as we do not have anything (except for $r_f$) on the right hand side of the equation as of $t$.
*If we were to use a statistical model to arrive at this distribution, the result would contain estimates rather than true values, e.g. $\hat\mu_i$ instead of $\mu_i$. This applies to the rest of the exposition as well.
**I have come up with this definition of required return by myself, so take it with a pinch of salt. I wonder if it is in line with standard finance theory, and I have posted a question about that here.