A DVD-R is a DVD disc that allows you to put your own information onto it. The -R in DVD-R means "recordable." Unlike a DVD you get from the video store, DVD-Rs are blank to begin with. Once you write data to them, they cannot be erased. The most common DVD-R is a write once 4.7GB “general purpose” disc, which is roughly equal to 120-minutes of standard playing lime.
Check this step by step guide on how to copy a DVD+R formatted disk to a DVD-R disk.