Get a capture card or tuner with video in.
And, hopefully there's a program for it.
1 RCA lead (with 2/3 RCA connections on each end) - (one for video the other for audio (and an RCA to 3.5 mm stereo adapter to plug into line in on the soundcard).
Or something similar to this
Connect video out from VCR to video in on the tuner / capture card, and audio out (from VCR) to line in on the soundcard. It may only record in mono (if the VCR isnt hifi / stereo).
Run the program (if the tuner / whatever came with one). Change it to CVBS (or whatever the video in on it is called). Change the audio option to line in (so it records the sound).
Play the video on VCR / record with the program. Voila.
Hopefully depending on the program (it may let you record in MPEG format).
If it does, let it record, then once its finished, stop the VCR / stop recording with the program. Use something like Nero or whatever you've got to burn the Mpeg to DVD.