Usual packages to use:
1. DVD decryptor. This will read the original disc in and strip the naughty CSS protection off it. You will of course need a LOT of space on your NTFS formatted hard drive. (Especially if you use the file option and select "all files")
2. DVD2ONE. This will take a DVD-9 disc layout and shrink it down to a DVD-5 disc that you will then be able to write out. (Another program that does the same is "Instant Copy")
3. Nero. To write the newly fitting set of files out to your DVD-R.
You could, of course, just use dvd decryptor to extract the film and leave off all the extras and that usually will fit on a disc.
Or so I am reliably informed.