If you have lost the USB driver disc then the only way you will be able to send video into the PC is by using the PC's Firewire input, should it have one.
You will also require to have some video capture / manipulation programme installed on you PC, for example Nero 6 or 7 as excellent results can be obtained using this software.
By the way the cable you require has a dv socket on one end (the cameras) and either a four or six pin Firewire plug on the other end, it depends on the number of pins your PC socket has.
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