Ok, a few options.

I use Anydvd for a lot of things, you have to pay for it but it is VERY good. Lets you add youtube URL's, press go, and leave it to download them and convert them to any format you could ask for.


However, lets stay free

Youtubecatcher will let you download the .flv (flash video) file from youtube.

http://www.youtubecatcher.com/

There are many conversion options, but i reccomend SUPER.

http://www.erightsoft.com/SUPER.html

It is incredibly fast and powerful and will convert both .mp4's and your youtube .flv's to XviD .avi's so you can play them on your DVD player no hassle.