MiniDV with a firewire port. If your PC doesn't have firewire (also known as IEEE 1394), get an add-on card. If your PC doesn't have a DVD burner, get one of those as well. You'll need software. I've only used Pinnacle Studio. It works fine and is easy to use.
I use a Canon camcorder, but I'm sure any of them are fine. BTW, because many are so small, the microphone ends up too close to the motor that drives the camcorder. You can pick up audible motor noise when filming quiet scenes. If it becomes a problem, get an external mic. You'll need a camcorder with an accessory mount and an external mic port. Most have this.
There are camcorders that record directly to DVD, but at least when I got mine nearly 3 years ago, I was told that they were buggy and a glitch (common) could ruin the entire DVD. I'm sure they've fixed it since then, but it's something to keep in mind. The nice thing about MiniDV is that you can reuse the tapes after you download the video onto your PC.
Chris