The free program Audacity can do that for you. All you need to do is connect the line out of your stereo to the line in of your computer (the cords are $3-$5 at RadioShack and other electronics stores), then use Audacity to record it. If you have any questions you can check out the tutorial by clicking here or posting back.
Hope this helps,
I wish to know how to transfer from an audio tape to my PC so that I can burn the music to CD. I am using Windows XP Home Edition O/S. Is there a program that will allow recording from an audio tape?