Well you would have to go through some analog method. But basically, upload your MiniDV tape to your hard drive via firewire and some program like Final Cut Pro or Premiere, etc. Then you just need some sort of TV out PCI card on your computer. I use an RT matrox, but there are many different varieties of these. Then just plug that analog signal into your Tivo and hit record.
(I am assuming you are asking because your camcorder only has a firewire output....otherwise the obvious answer would be to directly plug your DV camcorder into the Tivo and hit record).
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