D: drive is your Optical (CD/DVD) drive, right? You can install CDBurnerXP
(works on Windows 7 too) then use it's copy function to do what you want. There is no built in way to do this in Windows 7. Note:
DO NOT install ARO 2011 when offered.
What it does is make a copy of the disc in your optical drive then prompt you to put a blank CD/DVD in then writes the copy back to the blank disc.