rdiff-backup

About rdiff-backup

From Debian's package description

rdiff-backup backs up one directory to another, possibly over a network. The target directory ends up a copy of the source directory, but extra reverse diffs are stored in a special subdirectory of that target directory, so you can still recover files lost some time ago. The idea is to combine the best features of a mirror and an incremental backup. rdiff-backup also preserves subdirectories, hard links, dev files, permissions, uid/gid ownership, modification times, extended attributes, acls, and resource forks.

Also, rdiff-backup can operate in a bandwidth efficient manner over a pipe, like rsync. Thus you can use rdiff-backup and ssh to securely back a hard drive up to a remote location, and only the differences will be transmitted. Finally, rdiff-backup is easy to use and settings have sensible defaults.

From Debian's description of the rdiff-backup package, under that package's license.