Can I copy shows/movies from a DVR to a DVD?

I've been reading a lot about:

(1) whether or not it's OK ( which I assume means legal if just for personal use) to record movies and shows from a DVR unit to a DVD for future viewing

(2) how to do this.

The "how to" part is especially confusing. Can it be done? Is there a universal step-by-step way to it, or is specific equipment needed for each DVR (mine is Google Fiber)? Does the transfer include using a computer or going direct to a DVD recorder? Is there software that makes this process easy?

I'm probably overlooking some other small, but important, points. So, experts, keeping in mind that I'm an average user and not a super-techie, what's the deal on this?

Thanks for your time.