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There are two way to upload your picture's or video's to your pc:
You can upload video to the use of your camcorder
Connect your USB cable to your camcorder and plug it to your computer.
You need to turn on your camcorder so that it will be recognized by the
You can upload also your video's with the use of memory
reader. Remove your memory card from your camcorder and insert it to the
card reader. Plug the card reader to the computer. The computer will
recognized the card. Now you can upload your photo's or video's.
If you are looking for User Manual of DCR-HC21 then click Sony Support and download it. And if it is not your required user manual then let me know correct model number of your Sony camera to help you out.