First off you have to own the DVD. Then are you looking for free software or paid software to do that process? You could use DVDfab HD that will copy the dvd but it's limited to dvd9 to dvd9 or dvd5 to dvd5 format with no compression.
Beyond that it's either paid or free software. I use Anydvd HD and CloneCD, CloneDVD of which I use to copy and make backup of dvds. But each was a paid program so it does cost to do what I wanted it to do but for me it was worth the money spent. Beyond that what software you choose and use it your own choice but if you search the site there plenty of people whom can atest from their personal experiences on their software usages.