How can I copy my private Video (CD/DVD)?

Hello!

I have this Video on a CD/DVD and I want to make a copy for myself. (It is a private Video, so nothing illegal), but I just don't know how to do it, and with which kind of program/freeware. I am not sure, but I think clone cd is just for audio-cds?

I also don't know if it is a cd or dvd, so maybe if anyone knows how to recognize the difference....

Thanks!