What's the simplest way to copy a dvd home movie?

My computer's got plenty of hard drive space. It's also got a DVD-RW drive and a seperate DVD drive. It would be nice if there was a program that would let me stick a DVD-R in the RW drive, and the movie in the DVD drive, tell it where to look, and hit go. If anyone knows of such a program (freeware is even better) please let me know.