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Although it may have been my technical ineptitude, be sure that the copied DVD is not proprietary to the brand of DVR used to record.
I bought a Sony DVR recorder (100.00 @ Costco) and after copying my VHS tapes they could only be played back on the same DVR, my computer would not recognize the DVD's, I presumed it had something to do with the encoding. I even tried another Sony player I had, but it too didn't play the disc.
Costco also provides a copying service for tapes which worked out better, although it would be more expensive dependent on how many tapes you are converting.