Copying a DVD in Yosemite I am looking for software to copy a DVD home created without copy guard.  Roxio Toast stopped working after installing Yosemite
You already have everything you need.

Open up disk utility, select the top filesystem under the DVD on the left side and create an image of it (CD/DVD master, is the format you should select, if I recall correctly) and save it to the location of your choice.

When it is done the DVD image will remaim in the list in the Disk Utility window. Eject the source DVD and insert your blank. Select the DVD image in the Disk Utility window and click on Burn Image (if it is not in the toolbar, it should be a menu choice).

Not as easy as Toast but easy enough...