Yeah, since control panels tend do to things in different ways – it usually doesn’t work well to install two control panels onto the same system.
With Virtualmin – when looking to migrate to it from something like cPanel or Plesk, you’re able to generate a backup file from within those control panels, and import that backup file into your Virtualmin server. Unfortunately, ISPConfig isn’t one of the supported migration formats, though we’ll likely take a look at that and see what’s involved in supporting it. But at best, that’s still a little ways down the road.
Note though, that even in the case of a supported migration – it still involves moving them to another server. Too much breaks when trying to put two control panels onto the same system 
The Virtualmin installer only works on a newly installed distro, it’ll cause breakage on a server with live sites already working on it.
If you really don’t want to move to another server – the only possible way I can think of to make that work would be to perform a manual Virtualmin installation, then to use Add Servers -> Import Virtual Server within Virtualmin, and see if that’s able to pull in your domains.
You can see the manual installation instructions here:
http://www.virtualmin.com/documentation/installation/manual
Manual installations are much more complex and require a lot more expertise than the automated installs.
I don’t recommend trying that on your live server without testing that process on a test server first, as there’s plenty of risk for downtime 
Really, I don’t recommend that at all – I’d highly recommend getting a second server, setting up Virtualmin on that second server, setup your accounts and websites onto that server, then once it’s all working, make it live. With some testing, you can do a switch like that with minimal downtime. That’s the way I’d suggest 
Good luck!
-Eric