What kind of equiptment is needed?

How would I transfer a series I recorded to my DVR onto a DVD?

Recording them with a DVD recorder is the easiest way.

You can get more professional looking results if you digitize them onto your computer then use mastering software to create nice menus and edit your videos.

The easiest way would be to get a DVD recorder and just play the DVR directly into it. Keep in mind though, that the DVDs you burn will not last very long (maybe a few years at most), so you'll want to transfer to a hard drive at some point if you want to keep it long term.