What outputs does your high definition set top box have? It will most likely have composite (yellow [for video] red and white [for audio]) or component(green/blue/red [for video] and red and white [for audio]. Just plug these into the corresponding ports in your DVD recorder and make sure you tell your DVD recorder that you're recording from your 'line' input.
What model DVD recorder and set top box do you have?
This might help:
http://www.youtube.com/watch?v=aETiQSCRR7Q
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