DVDshrink is quite good...but use either DVDdecrypter or Smartripper to first 'rip' the movie file onto your HD (they both do a better job of 'ripping' than DVDshrink). Then you can use DVDshrink to re-author the movie for burning on to blank dvd disk.
http://www.dvdshrink.org/
If you're new to all this, I suggest you first visit
http://www.videohelp.com/
They have ALL and EVERY answer related to audio/video burning. The site contains reviews of every burning software available. As well as the download links to every program you'll ever need. An extremely usefull site.