There are a few different DVD burning software programs available. There is the combination of DVD Decryptor and DVD Shrink. You decrypt, then shrink the file to fit on a DVD, then burn.
BUT the easiest I have found is DVDFab (version 5 copies DVD to DVD). There is also a version available now for Blu-Ray. Honestly, if you install DVDFab it will walk you right thru the steps.
It is easier if you equip your workstation with a DVD reader and a separate DVD burner drive, so you can have the original DVD in one and burn directly. BUT if you only have 1 burner, use DVDFab to make a copy to your workstation (C:\ drive) then put in your blank DVD and burn it (I think Fab will use the term "write" to dvd).
CAVEAT: DVDFab will remove security features, but of course you should not use it to break copyright/copywrite protections, only for your own copies of non-protected works.