Your best program for copying/burning DVDs in my opinion os CDBurnerXP. Fotally free and feature-packed.
Download it from - click here
It'll require the NET Framework 2.0 from Microsoft, download that here - click here
Install both then run CDBurnerXP.
Select 'Copy disc' from the opening menu, then 'Copy data' from the two buttons that'll appear.
In the next window, check to ensure that the program has detected your source and target drives properly, then just clik 'Copy disc'.