If you connect it to your computer while in DFU mode it should be recognized by iTunes and should automatically restore. If it doesn't we need more information to help you.
What kind of computer?
What operating system?
What version of iTunes?
What kind of USB ports on the computer (1.1 or 2.0)?
Are you using a USB hub?
What other USB devices do you have connected?
What error message are you getting on the computer (if any)?
Alternatively, you can go to
http://www.apple.com/support and search for tech notes that might help.