How can I turn vegetable oil into something I can use in my car?

I've been seeing people do that on the news and stuff. One man is trading his car washing services to restaurants owners/workers, in order to receive their oil...i'm assuming it's the kind they cook with. He said he is going to use it in his car. How can I do that? Can you use just regular things from the grocery store?How can I turn vegetable oil into something I can use in my car?
Do you have a diesel engine? If not forget it.How can I turn vegetable oil into something I can use in my car?
Without a diesel engine , you cannot do it.

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