Do you need a S-Video cable to tape

Your camcorder must be connected to your VCR (not to your TV). Almost any VCR has composite inputs (the yellow, red and white holes in the back labeled video and audio IN, make sure you are connecting to the "IN" ones because it probably has identical output jacks). Also, the vcr input mode must be set to "Line" or "video". (check your VCR's manual, but this is probably done pressing a button on the remote labeled "input" or "line-in").
If you want to watch what you are recording on a TV, connect the VCR to the TV and set it as you normally would.