Sorry it took a couple days - my sister's husband was sick. She said:
Basically, we bought a mid-priced DVD-Recorder, hooked it up as if it was a VCR to the TiVo box, and then use the "Record to VCR" option off the TiVo menu. I think we had to change the format of the TiVo box, but that could have been for our personal set up.
I hope that helps at least getting started!