Before I got my AquaVu DVR, I used a Sony Handycam DCR TRV18. It has a video input (S-video, I believe). I had to buy an S-video to RCA adapter at Radio Shack, but after that I was good to go.
A pretty easy way to tell if you camcorder can record from external sources is to look for the "record" button amongst the other playback buttons (Play, FFWD, REW, STOP, etc.).
Good luck!