SyncToy - free download from the MS site is for exactly this purpose. There is a beta of the 2.0 version that's been available for ages and is pretty stable AFAIK. Expect you could set it to run from a shortcut or using the task scheduler.
Oopss, missed the last sentence, it wouldn't do the DVD backups too or monitor for changes. However monitoring for changes might not be such a good thing if you overwrite a file and then realise the mistake only to find the backup has just sync'd the change straight away...
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