The Zoom Q4 (? - I think it's that one) is your easiest answer. Just put it up on a mic stand (you'll need an attachment, too) and you're good to go. It'll be as good as your playing, and there's essentially no editing or anything. Here's an example of that: http://www.youtube.com/watch?v=jpYBkvFpj3E
- it's from a jazz jam that I sat in on, and put up my Q4. I'd avoid most cheap video recorders, as they're made for everyday use by non musicians. They'll put weird compression on the sound, and it never is good.
There's a few others that are similar to the Q4. I think Roland and Tascam have sound recorders with video added, too.
If you want it to look good and sound professional, then there's a myriad of other better cameras/video recorders that have better video (although not much better sound), and you may want to look into video editing programs if you want decent looking titles and such.