You really should get the exact model number....that could help in locating software to transfer the video to your PC for burning.
If you cannot locate software to access the video digitially, you can take that $31.95/tape and spend it on a video capture peripheral for your PC. Basically, these gizmos plug into your USB or Firewire port. They provide analog inputs for your video and left/right audio channels. All you do is hook your camera up to the gizmo and run the software to record the video to your PC. These also typically convert to MPEG2 on the fly.
One you have saved all of the video to your PC, you can then burn the files to a DVD. Most of these capturing cards come with software that will help you do this. It’ll also add markers to the files so that you can do things like add chapters and the like.
I’d expect to pay about $100 for a good one. You can get cheaper ones, but I’ve seen the cheaper ones make lousy copies of the source material :-)! I am not an expert on doing this stuff....I bought one of these a few years back to do exactly what you are doing and the results were very good. My particular model was a Dazzle Hollywood DV bridge, but I wasted about $100 more on that particular model...just get yourself one that converts directly to MPEG2 in the device itself and you will be fine :-)!
Thanks for the guidance!