The easiest and (and not necessarily the most expensive) way is to contact a company that provides these services - you send them a tape, then send you back that tape and a CD/DVD. Just search the web - I don't know such a company.
If you you don't already have the required hardware, it will be much more expensive to buy it than to do what I suggested above. Anyway, you need a CDRW (speed doesn't matter, 24x is $90 on NewEgg.com) or a DVD+RW or a DVD-RW (there are several formats for DVD writing, devices cost around $600). You also need a videocard that can take a Video-In and Audio-In signal, or a cheap TV tuner that can do that. You connect the VCR's Video and Audio outs to the card's Video and Audio ins, set VCR to play, and capture the incoming video using some software. You will get a file which you burn on a CD or a DVDR[W].