I have a tivo series 2 and want the easiest way to burn shows on to dvd after transfering them to my computer?

I have not been able to successfully be able to burn a show onto dvd because of Tivo making it so difficult in doing it. I know they mention Roxio which I have tried and quit after it being so hard. I would love to know if there is a easy and possibly a free way in solving this mission.

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