You'll have to do one of two things.
One is to rip the disc as WAV files and burn using a CD burning program (such as Nero) in "Disc-At-Once" mode. This will leave no pauses in between tracks. With Nero, make sure you either click the box that says "No pauses between tracks" (if you're using Express) or (if you're using Nero Burning ROM) to select "Properties" on all tracks and set the pause from 2 seconds to 0 seconds.
The other thing you could do is rip an ISO image file of the CD and burn from that, which would create an exact duplicate of the orignal disc.