Under US Copyright law, 17 USC, section 109, one does not need permission of the original copyright holder to rent out a lawfully acquired copy of the video, this is known as the "first sale" doctrine, and this is thoroughly explained in this section.
Also, Under Canadian Copyright law, the same rule applies and can be found Canadian Consolidated Statutes and Regulations C-42 - 3(1) gives the copyright holder no right to restrain the rental of lawfully acquired copies of video recordings.
