Ah yes the good old MOde 2 CDs
Question - when playing on your DVD player do you notice occasional blocks / weird distortions / coloured blocks flashing ?
Sounds liike a bad disc.
If your drive supports it try locking its max speed down to 2x/4x or the lowest you can get and try again.
If it fails, then try using ISOBUSTER and create an image of the disc on your HDD - you can set ISOBUSTER to either RETRY re-reading the sector or ignore it and write a blank sector - Personally I would set it at RETRY, this will often work out (although the copying will take longer, much longer in some cases).