You will need some kind of video capture card or USB devices such as one of
these. Pick the ones your are interested in and read the reviews. The big thing is the software they come with on how well it works. Make sure the software can save it in MP4 format, a lot easier to deal with later. The one I have came with Arcsoft software which, I think, is fairly easy to use.
Next install the drivers for your device and the software. Connect the camcorder to the device and play your tape then start the capture software. When it is done save it to the hard drive and then if you like you can burn it to a DVD. You can do the same thing with VHS tapes. Have fun.