The process I'm going to lay out for you may not be to everyones liking but you asked for help and this is how I do it, After burning over 150 DVDs and I've had only 3 costers it works.
First: I use DVD_Decrypter to put the DVD on my hard drive.
the setting I use in mode is FILE to a directory of your choise (usually the name of the DVD) This will remove all copy protections.
Second: I use DVDshrink to shrink and reauthor the DVD to fit on one 4.3 gig DVD blank, Go to their web site they have good instructions there on what settings to use I use VIDEO_TS and AUDIO_TS settings
Third: I use ImgToolBurn to burn the DVD, My man coujo has one h*ll'va burning tool.
You'll need to have Nero bunring suite V6.0 or later installed it uses the Nero burning engine.
I also use the latest verison of anyDVD it will detect and disable the latest copy protections
You can get these free programs from the following web sites
http://www.coujo.de/ (Download imgToolBurn 1.2.0) free
This site has a world of information
I hope that I've hepled you some