Just hit the DVR button twice, it will bring up a list of recorded programs plus at the top of the list the one you are recording. From here when you select it you will get the option to play from the begining.
Yeah, I know there is the start over button... just saying that should be the only option - view is pointless - and if you use "start over" it should act like you actually did start to watch it instead of making you start over again the next time.