My concern was that on the tutorial they are using pin 10 on the uno and wasn't sure if I had to have access to pin 10 or if I could just go straight from ICSP => ICSP.
You only need the ICSP pins on the "target" board.
On the "programmer" board, you need 5 pins from the ICSP connector and one additional programmable pin to connect to RESET on the target (which is part of the ICSP connector, but isn't programmable on the programmer side.)