I've done camcorder VHS-C tapes to DVD by using a TV capture card (ie.,WinFast TV2000 XP). Audio and video out (either composite or S-video depending on the camcorder/VCR) to the capture cards inputs, plays the image through the card and into the computer. Cards acompanying software (ie., ULEAD Video Studio 7) records the image to a mpg file. That file(s) can then be edited (ie.,ULEAD DVD Movie Factory) which also syncs up with the CD/DVD writer to burn it as VCD or DVD.
I got my TV2000 XP card fairly cheap ($50), but the trade-off is the need of a good processor. For instance I'm only running a 1GHz Athlon with 768 Ram, so my recordings made it to the DVD with "visual artifacts" such as a blue sky having a patern of uniform blue lines interspaced through it as the ULEAD programs tried to compensate by "averaging out" the large sky. Also the burn to DVD can take several hours for each hour of real-time footage.
Regular VCR should be the same pricipal, as long you've got long enough cables to reach.