Recording from OnDemand to my DVR?

I’m a dummy when it comes to recording off the tv period, I can’t even figure out how to record to my vcr LOL But from time to time there are things on OnDemand I would like to record to a dvd. Our dvd player is a recorder also.

First is it possible to do this and if so can someone tell me how I should have everything connected?

We have Charter cable if that makes a difference.