Coping a DVD to using DVD-RW

[MaiM]

What software lets you copy a DVD do a DVD-R. Were trying to back up our library but not knowing which software would be the best.

Thanks

System is:

Dell System
Pentium® 4 Processor at 2.53GHz with 533MHz system bus/ 512K L2 Cache
New 4x DVD+RW/+R Drive w/CD-RW
256MB 333MHz DDR SDRAM
60GB Ultra ATA/100 7200RPM Hard Drive
New 128mb DDR ATI Radeon™ 9700 TX Graphics Card with TV-Out and DVI

MaiM