Any of the following: (1) DVDFab Decrypter 3.0.9.6 (free) Find it here: http://www.dvdidle.com/free.htm Rips to your HDD, then can use either DVD Shrink 3.2 or IMGburn to burn to DVD (both can be found in the download section of this site) (2) AnyDVD (not free, but has 21 day free trial). Find it here: http://www.slysoft.com. (3) This DVD may be old enough where DVD Shrink 3.2 of DVD Decrypter may be able to burn without the help of another program. Worth a try first.
You have to decrypt it, compress it if burning to a 4.7 DVD, and burn it. Nowadays that usually takes more than one program. FFsp42 named some good options. Are you wanting freeware or are you going to buy retail programs. I'd suggest using Shrink for transcoding. It's built in decryption software has always been weak. So I'd recommend using one of the top decryption programs and then open the files with Shrink. Shrink supports burner software but includes none. ImgBurn is a good burner and the updated burner software from the DVD Decrypter program.