As far as I’m aware of, TiVo is used in the US only, where Scart connections are not used, so you will need an S-Video lead and a 2xRCA to 3.5mm stereo lead.
If your TiVo’s S-Video output is already in use, you will need to disconnect this existing connection and connect an S-Video lead between the TiVo’s output and your Hauppauge card’s S-Video input.
For the audio, use a 2xRCA to 3.5mm stereo lead (these are available in most electronics stores such as RadioShack) and connect the white & red audio outputs to the audio input on the Hauppauge card. If the card has no audio input, connect it to the PC’s audio Line-in socket.
Finally set up your capture software to begin recording, begin playback of the program on the TiVo and begin recording on the PC. It’s worth doing a few tests first to make sure the sound and video come fine.