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I have a stack of MiniDV and HDV tapes languishing in a box. When that was still a current format, ingesting into a computer was simply a matter of connecting the camera to the computer via FireWire. But in 2020, FireWire is equally defunct as DV/HDV, and most computers do not have the interface.
Ingestion Methods
From best to worst:
1. FireWire: this will give you the best quality since it is digital and what you ingest will be an exact copy of what is on tape. Your computer will need a FireWire interface (see below).
2. Component video: this is the best quality analogue format and has three cables for video (YPbPr). The connectors are usually RCA phono plugs for consumer gear. Professional gear might use BNC connectors. You will need an analogue to digital video converter that supports component video (see below).
3. S-video: this is the next step down in analogue quality and uses a mini-DIN connector. You will need an analogue to digital video converter that supports S-video (see below).
4. Composite video: this is the lowest quality analogue connection and uses a single RCA phono plug. You will need an analogue to digital video converter that supports composite video (see below).
Note that all the analogue connection options will use two RCA-terminated cables for audio (stereo left and right). Also the analogue capture will work for other video gear besides MiniDV. If you have VHS or Hi8 tapes and suitable playback devices, analogue capture will work for them.
FireWire Interface

FireWire interfaces are also known as IEEE 1394 (or just 1394) and Sony i.Link. The physical connector is usually a tiny 4-pin plug or a larger semi-rectangular 6-pin plug. There are also FireWire 400 and 800 9-pin connectors, which might exist on your motherboard or PCI card, but not on the video device. These are all electrically compatible, so you just need to get the appropriately terminated cable or adapter.