Use
AnyDVD and
CloneDVD:
http://www.slysoft.com/en/
AnyDVD unlocks (decrypts the disc) and CloneDVD copies it to a file or burns it. I copy the DVD to a file and test it then burn with
nero.
http://www.nero.com
I have not seen a disc I couldn't burn yet.
There are free tools. Nero will most likely come with your drive. And study from there.