You can copy an unprotected DVD with Disk Utility -- no need for Handbrake and Toast. Simply open Disk Utility, highlight the DVD in the left-hand sidebar, then click "New Image." Choose "DVD/CD Master" as the type and click OK.
Let Disk Utility make the disk image, then when it's finished, the image itself should appear in Disk Utility's left-hand sidebar. Insert a blank DVD-R/RW, highlight the image in the left-hand sidebar, then click "Burn."
Note: This will not work on commercial, copy-protected DVDs. Copying those kinds of a DVDs is illegal in the United States (I'm not here to argue morals or rights -- just stating facts) because you have to circumvent the copy protection on the DVD, which is prohibited by the DMCA. Some will argue that copying a DVD for backup purposes is "fair use," but the DMCA doesn't provide for a legal way to circumvent copy protection -- even in cases of "fair use."
Google "MacTheRipper" for a solution to the aforementioned problem.