Cheap: your local big city library probably has the equipment, just bring your tapes in, sit in what looks like a private reading room for a few hours (bring books) and slowly convert them. Their equipment is probably good quality.

Mid cheap: you can buy devices that attach to your existing VCR on one side, and have a computer (often USB) connection on the other. There is plenty of software to record. Quality varies depend on your VCR (clean the heads), and the quality of the interface.