How can I capture miniDV video tapes?

Episode 1571
Jay fromJay has a stack of miniDV tapes and wants to digitize them to make DVDs. Leo says if he still has the camera, he can do it easily by plugging it into the computer. He wants a USB 3 or Thunderbolt connection if possible. Firewire to USB converter could also do it, but it may be easier just to have a service do it.