Audio CD copy is actually not possible with Brasero on Ubuntu Lucid. All details in the bug report.
As a workaround, you must install cdrdao version 1.2.3, which is not yet available as a package.
To install it, you can use CheckInstall which is a bit cleaner than the old
tar -xjvf cdrdao-1.2.3.tar.bz2 cd cdrdao-1.2.3/ ./configure make sudo checkinstall make install
make command can fail because of missing dev packages you’ll have to install.
CheckInstall builds and installs a nice Debian package.
You can also use cdrdao directly.
ps axf shows us the command Brasero is using:
cdrdao read-cd --device /dev/sr0 --read-raw --datafile /home/dooblem/brasero.toc.bin -v 2 /home/dooblem/brasero.toc
Here we go!