To record digital cable, you need a device that can take a CableCARD. You also need to rent a CableCARD from Verizon. They charge ~ $5/month. The are a couple options for CableCARD tuners. The HDHomerun Prime is pretty well supported:
https://www.silicondust.com/product/hdhomerun-prime/ . It can tune 3 streams from one CableCARD, and connects over ethernet. Ceton also makes some CableCARD tuners.
HDHomerun now has their own DVR software that you can use. They charge $35/year and it includes guide data.
There are also plenty of free programs out there, like MythTV. It has some nice features like automated commercial flagging. I use this, but I run it on Linux. I know it works on Linux and Mac OS X. Windows support is a bit experimental. Guide data is $25/year from Schedules Direct:
http://www.schedulesdirect.org/ . There are others that will run on Windows:
https://en.wikipedia.org/wiki/Comparison_of_DVR_software_packages
Some caveats: some channels (such as HBO) get flagged with DRM bits. Some providers flag all channels with the DRM bits, others only some. When I had Verizon FIOS, only a few channels were flagged (HBO, and a few cable channels I didn't watch). They only software that could record these protected channels was Windows 7 Media Center. Microsoft has discontinued this software, and didn't release it for Windows 10. They don't sell it for Windows 7 anymore either. The protected recordings could not be copied between machines. Channels that aren't flagged can be recorded and copied.
The HDHomerun software is supposed to gain support for recording protected channels, but that still hasn't happened. Their current state for protected channels is "Currently W10 [pc and xbox one] and iOS are the only platforms that supports DRM content for live playback. Live time shifting of DRM content currently can hold up to 60 minutes of a show with 5 minutes back." (
https://forum.silicondust.com/forum/viewtopic.php?f=126&t=65204 )