How to copy a DVD?

[Josef Lowder]

What is the easiest way to copy a DVD? 

We hired a professional photographer to take the photos of our 
daughter's wedding under an agreement that we would have the 
legal rights to all of the digital images, etc.  (He did a great job, 
by the way; and the media plainly states that he releases all rights 
to the content.  We received three CDs and one DVD and he 
charges $15 for each additional DVD. 

I am able to burn additional CDs, and I do have a DVD burner 
(but not a separate DVD player), and I don't know how to make DVDs. 

Whenever possible, I prefer to do things like this via the command line.  
These two simple steps are what I use to burn CDs: 

mkisofs -r -o cdimage /home/joe 
cdrecord -v speed=2 dev=0,0 cdimage 

Can anybody tell me a similar simple command line procedure 
for copying the DVD? 

I assume that I need to copy all the DVD contents to the hard drive. 
Is there any special command to do that? 

I do have K3B but haven't used it much and the "help" pages 
were a bit confusing to me on this point. 

joe at actionline.com