What you need is a DVD-Recorder. I have a Philips brand recorder that is a few years old, so I don't know if the model is still available (3355). I've seen models offered by most manufacturers. They should be available in the $50 to $100 range. I've been very satisfied with mine.
They work fine as a DVD player as well.
If you are planning on transferring your own VHS tapes, it works fine - hook up the VCR to the Recorder - coax, composite (yellow/red/white), or s-vhs (black/red/white). Push play on the tape, push record on the recorder. It records in real-time, so a two-hour movie takes two hours to record. Most of the recorders have built-in circuitry to try to eliminate the copy-degradation (the copy of a copy of a copy syndrome).
If you want to copy a commercially bought tape, it won't work straight out of the box. If you do some searching, there are 'black-boxes' you can find that allow that (mine cost about $20).
The recorder can also record from other sources - camcorder, cable-box, laserdisc.
As for quality, most recorders allow for 1-hour, 2-hour, 4-hour, and 6-hour recordings. As with tape, the shorter the time, the better the quality.
David