Unfortunately unlike copying DVD's there is no easy answer to this one. I've just spent weeks fiddling about trying the same thing.
The best thing to do is to read, read and read !!!
Then experiment.
Try these sites
http://www.dvdrhelp.com (Great allround site with links to good freeware and tools)
http://www.digitalfaq.com/ (very comprehensive guide)
Only one thing I can add is that I have found Intervideo's Win DVR quite a good program despite some lukewarm reviews.
Hope that helps!!
Good luck