If you don’t have Toast it can be done very easily with Disk Utililty:
1. Insert disc to be copied, launch Disk Utility
2. Select the disc in the Source List
3. Click New Image button – select “DVD/CD Master” from the Image Format pop-up menu, “None” from the Encryption menu
4. Name the disc, and click Save
Once the Disc Image has been created select it in the Source List and click Disk Utility’s “Burn” button. Insert blank disc.