http://www.amazon.com/3500STBII-Mult.../dp/B00GOILYB6 or the Homeworx equivalent.
Add an external USB hard drive for a cheap DVR setup. There is a reason it's cheap, though, it's not terribly user-friendly.
Other options are out there including PC-based systems or all-in-ones from ChannelMaster or Tivo (subscription required).