You gotta have a projector. If you can find one with variable speed, all the better. It's nice if your camcorder has a "clear scan" shutter tweak setting, too.
Both these items are used to reduce the strobing effect that you can get when 24 fps film is recorded by a 29.97 fps camera. (You might try 24 fps if your camcorder supports it; I haven't heard from anyone who's tried this, though).
The simplest setup is to have the camcorder and projector side by side. Project the film image on a clean white sheet of paper (letter size is fine; you don't need to blow the picture up big).
Once the film's been transferred to DV tape (or dumped straight to disk using your camera's pass-through feature), you can edit, enhance, add music and narration, and author to DVD just like any other video.