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First of all, see ukandeuropetravel.com/campervan_hire/belgium… - could be wiser to start your trip elsewhere.
If you still want to start from Belgium, this company is in Brussels (Schaerbeek): http://www.abego.be/
This one is in Neerijse, not far from Brussels - you'd have to ask if they will deliver/collect: http://www.syr-motorhomes.be/en/rental.html
And this one is in Brugge: rijmaran.be/en/…
There are others, but they are all in places other than Brussels and Antwerp, e.g. this one in Oostduinkerke: http://www.dereiskarre.be/
I would be surprised if any company in Flanders didn't have someone who speaks English, and it isn't uncommon in Brussels either.