I purchased a USB video capture device off eBay ($15 inc. postage) which came with ULead Video Studio software and worked brilliantly. Now I can finally throw out that old VCR
Buy a Video Tuner or Video Card with VIVO, record your video using video capturing software like NERO Vision (Capture Video...) or try using Intervideo DVD Creator, these soft-tools will record your videos and burned it directly to DVD.
If you want to do it often, You can buy a video capture device, the cheapest I know is the dazzle which costs around 40, it comes with software that'll help you burn your captured video directly to dvd.