As far as I know, it is possible with that model. You might want to give the manual a look.
I have the PVGS 150 and it is NOT able to do it, but I remember that the next model up was given that capability.
I think you just plug in the RCA jack to in cameras input then go to the VCR function and set it in the menu.
Like I said, read through the manual in the recording section or extra features section.