There are a few things you can try, the first is you can copy both the audio and video folders onto a new folder on your hard disc and see if Adobe will open the video files. They will have a .vob extension and be over 1GB in size, although you don't say what make of camcorder they were shot on, JVC has .mod files (yet another version of mpeg).
If Premiere doesn't open them, then the next thing is to try and convert them from one format to another, that usually goes from .vob to .avi which Premiere will work with no problem. This can be very much a hit and miss affair, with jerky playback or the sound being out of synch with the pictures. The next is, if you have a home DVD player with AV sockets out, use the S-Video instead of composite video for better picture quality, and run the cables into a Mini DV camcorder and run the Firewire cable from the camcorder into the computer.
Basically what you are doing is using the camcorder as an analogue to digital convertor. It takes a bit of setting up what with all the cables and changing menu settings but I found it a good system. And yes, the quality won't be as good as you are going from a digital signal on the DVD to analogue out on the back of your DVD player through the camcorder and out again as digital and into the computer, but if nothing else works this may be the only way to get the disc contents onto your computer. I haven't tried one of those external breakout boxes with audio and video sockets that you plug into a spare USB port, but if none of the above options work for you, then definitely look at them.
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