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For RW discs, you need to reformat them to reuse them. For your laptop, you should see a format option if you right click on the DVD icon when you have the File Explorer open to Computer (My Computer). (This assumes that the computer has a DVD writer.)
Finalizing the disc enables the contents of the disc to be read on other DVD players. (This isn't always an issue. For example, a disc burned with WinXP should be readable for a computer with Windows 7 without finalizing. However, if the disc was burned by a DVD player, the contents will not be accessible on any other units without being finalized.)
If the disc has been finalized, you need to take another step before reformatting the RW disc. Put the disc in the unit that initially finalized it. Then look for an Unfinalize option. Then format the disc again. (I've never used this feature on my computer. It's easily accessed on my DVD recorder in the same section of the submenu as finalizing the disc.)
I noticed that too with my "VR" (and NOT "Video") formatted disks. I don't think you can finalize the VR ones. Instead you have to use the Sony Import tool to grab the videos. If you are like me you probably remember using the import tool with Video formatted disks BEFORE finalizing them and it takes forever to copy them. They must be finalized to view on other devices, copy using the import tool quicker, etc., but VR formatted disks seem optimized for importing (and can be edited on the camcorder directly.
Are you absolutely sure there are recordings on that disc?The message means the recorder can´t find any. If you have a chance and it´s a VR-disc, try playing it on another player that is known to be able to play unfinalized VRs. If it was recorded in video mode there´s nothing you can do. If the material is of great importance turn to data retrieval professionals.
If you had read the manual, it would probably have told you this. .It might be worth seeing if someone at your local friendly computer shop can assist you - they may have access to software that will help.