Freeware: ABC DVD Copy Lite

http://www.canadiancontent.net/tech/download-ABC_DVD_Copy_Lite.html

ABC DVD Copy is DVD cloning software to get duplicates of your favorite movies on DVD or hard drive with just a few clicks.
The transcoding engine can fit any DVD video (up to 9.4GB) on to your DVD disc (4.7GB single layer or 8.5GB dual layer) with no loss of content or quality.
It also provides a preview function, which will display video thumbnails while copying a movie. It supports a broad range of DVD-R/RW and DVD+R/RW (including double layer) burners.