I also have just got the same machine; I agree its excellent, but the manual leaves a lot to be desired. I am still finding my way round it.
There are quite a few forum members who have this model, or the next one up, who probably can advise you better.
In the meantime, try connecting the VHS Scart output to the Panasonic Scart input, (eg: AV2). Then select AV2 as the recording input, start recording, and start the VHS playing. I have not tried it, but I "think" it should work.
Post back with the results.