Both Wajo and tomwil's idea will work but even though it may be more complicated I'd lean more towards tomwil's solution. That is, on the DVD side of your Panny select line input 1 as the source. Run a video and audio cable from the VHS output to the Line 1 input. Select the DVD side and push REC, quickly select the VHS side and push PLAY.
The tape should PLAY and the DVD side should record whats playing. Going this route, or Wajos should get rid of your extra titles and tidy things up. If you want to PAUSE the DVD side(for example to not record a porting of the tape) you need to select the DVD side otherwise you will only be stopping the VHS side and record the PAUSE, not what you want to do.
The older(non EZ) Panny combos had another easier way to accomplish this(without having to use external cables) but this is just one of the many downsides of the EZ combos.
The nice part of Wajos solution is you have two separate remotes so things don't get confused as to whether you are controlling the VCR or DVDR. Using just the Panny you have to always know what side the remote is controlling.