Ok sry for the "illegal" comment..
But Dup-DVD has a free demo and i belive it allows you to record 1/4 of the dvd to a cd-r.
Also mentioned The studio 123 program is legal, it won a court case about 3 weeks ago, and you can buy it at compusa, microcenter, and best buy ect.. Its called DVD X Copy, I bought it and it is a great program if you have a dvd burner... Its basically, put in dvd and dvdr and press copy. You can download it (free) at download.com its called DVD Xpress Copy (not full ver.)try it out.
Also, another comment saying "those companies selling programs to burn dvds to cdr's is Bull****" Thats not true at all, I have burned many dvds to cdr's before I got a DVD burner.
So get the facts straight.
I dont mean to type anything illegal in this post so if i did i'm sry and tell me what to edit.