Yes... Take the Video output (S-Video, composite, ect.) and plug that into an input card on the computer and just digitize in realtime. You could even just go straight in with Firewire. As firewire should pass video in realtime.
It works fine with FireWire. I think there is even a portable HDD recorder that takes the DV stream over FireWire. If you do this, just make sure you fix the FireWire cable to the camera body to prevent damage to the connector if you pull the cable by accident.
But, be aware that recording directly to tape or through firewire, you're not going to have the time-date stamp that so many legal videos require. If you go through the composite or s-video to the computer, you could record the time-date stamp that way.
Speaking of recording to HDD. Can you name a few portable HDD that can record thru FireWire? What would be the quality difference between recording to tape and HD?