Carbon Copy Cloner would be an excellent choice for a one-time mirror of the drive, but if you want TRUE RAID mirroring, then you'll either have to reformat the drive and make it a part of a mirrored RAID set through Disk Utility, or purchase a PCI ATA RAID card that supports mirroring to put in your system.
I am not sure whether adding a hardware RAID card would require a reformat or not. I would assume that it would not, but am not completely sure.