how far into the read process are you before the error occurs? does the disc have scratches on it?

your best bet is to try the main movie first. instead of burning to dvd, select your hdd as the destination. this way you will be able to play the files with vlc media player (or what ever you use) to check if the copy is good before burning. if you want more than the main movie then play around with this same process using customize selecting different titles until you receive the read error. then just dont copy the problem title(s).