Can I transfer a recording from a Comcast DVR to my laptop that has a HD DVD RW??

I am trying to copy a tv show taped on a DVR to a DVD on my laptop. The DVR has a USB port so I'm thinking there has to be a way. Do I need a specific program to do this?? Thank you for your input!

near as i can tell its illeagle and has been prevented by the manufacturer of nearly every PVR System