The first step would be to install the proper software to your DVR40, so you can enable the USB ports. Hacking talk is not allowed in this forum. Check out the Tivo Underground and the Upgrade sections. Search there and be prepared to READ, READ, READ. After you do this, you will need to do a Google search for how to get the programs off the Tivo as this topic is not allowed at all on the Tivo Community.
Sorry to be so vague......It's the rules.
If you would like the easy answer, simply buy a DVD recorder.
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