Plowter has answered your question but, in case you still need further information, I'll try to elaborate:
Basically, you need to have the DVD in your drive, without the viewing program running. To do this, you can do one of the following:
a) insert the DVD as normal. Wait for the program to boot, then close it; or
b) insert the DVD with the shift key held down. (That should cancel the 'autorun' feature).
The next step is to right-click on the DVD drive icon and select 'explore'. You'll then be able to see the contents of the DVD. There should be a folder which contains all of your photos. (If in doubt, double-click on any likely folder, in order to view its contents).
To copy the folder to a suitable location on your PC, simply click-and-drag the folder to where you want it to be. Alternatively, right-click on the folder icon and select 'copy'. Then navigate to where you want the folder to appear, right-click and select 'paste'.
Chris
(PS: If you'd rather copy just the contents of the folder, rather than the folder itself, double-click on the folder, and go to Edit > Select All. Then drag-and-drop (or right-click and select 'copy'), as above.