Disc drive doesn't recognize disc?

I'm not sure how long this issue has been occurring; however, I tried to insert a (printer setup) disc and my disc drive is not recognizing the disc. I inserted the disc about 3/4 of the way through and it makes a noise as if it recognizes a disc has been inserted, then gives a quick "no, thank you" and spits it back out. I then tried pushing it in nearly all the way (98%) and it got stuck, so I pulled it back out.