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I'm an ntl customer rather than Telewest, but most Set Top Boxes (STB) are similar.
There will no doubt be an RF output from the STB. It either will or will not accept a standard aerial type lead.
How many SCART sockets does your TV have? Assuming you have 2 best setup on SCART should be:
STB out #1 > TV in #1
STB out #2 > VCR in #1
VCR out #2 > TV in #2
Using the above to tune to the STB transmitted output on the VCR (to record) you'd set the VCR to the AV channel #1. To view the VCR recording (or the channel that the VCR would record) on the TV you set the TV to AV#2. whilst to watch the STB direct tune the TV to AV#1.