Use Dvd Decrypter to rip/copy the original/source dvd to the harddrive. Next use CloneDVD to copy and burn the now decrypted/unprotected dvd.
You can also use AnyDVD in combination with CloneDVD. AnyDVD must be active when using CloneDVD so it can remove the protection/copyright.
Another good combination is DVD Decrypter and Nero Recode.
Yet another is DVD Decrypter and DVD Shrink (arguably one of the best and most popular combos).
Many other combinations not mentioned are also possible.
Refer to the following useful sites for reading and learning about audio and video applications: www.videohelp.com, www.doom9.org, and www.cdrlabs.com.