Unencrypted? ImgBurn or DVD Shrink (set to DVD-9), maybe? If it's unencrypted and not region-locked, there will be other options, too. You'll want to rip as an ISO, for ease of burning, rather than grabbing the files.
Encrypted? If old, DVD Shrink. If new, something that costs money and may be in a legal gray area, and thou shalt not go further on that subject in this forum 🙂.
For burning, though, you're in luck: Windows 7 or 8 will burn an ISO, with no added software. If another program has the ISO extension, just right-click, and find the image burner under, "open with..." Or, ImgBurn, or CDBurnerXP, or InfraRecorder, or any number of others, if on an older Windows. InfraRecorder is probably the easiest to use to just burn, if you need to get one.