Just use Dvdxcopy it is the easiest software to use.Quite often it will need 2 blank dvdr's.That's when you would need other software to get it to fit on one dvdr.
So... Dvdxcopy for Dvd5 (will fit on 1 dvdr).It will rip and create the dvd.When it's finished it needs Nero(or equivalent) to burn.
For Dvd9(needs 2dvdr)use DvdDecrcyptor to rip all files to hard drive.Use Instant Copy 7 to convert (best)or Dvd2one.Then burn with Nero,or other burning software.See the tutorials for these in the dvd tutorial section.
Most of the dvd movies are protected that's why you need these programs.It's not a straight copy from Dvdrom to Dvd writer.
If you want a backup from a backup you can do this easily once the copy protection is removed.Dvdxcopy leaves the backups protected.The others do not.The protection is removed with Dvddecryptor.
Note.. Legally,you are allowed only one backup of movies you own!