Dealing With Duplicate Content in Drupal: My Approach discusses this problem ...
Global Redirect takes care of duplicates between the "node/12345" and "friendly/url/" URL's. If the node/12345 URL is requested for a page which has a URL Alias, global redirect causes a 301 redirect to the Alias. This notifies the search engines that the aliased URL is the correct one and to ignore the node/12345 URL. However browsing global redirect discussions on drupal.org I see many instances of incompatibility with other modules, but I also see some discussion of moving global redirect into Drupal Core. I believe it should be in Core but only if the incompatibilities can be resolved.
A common source of seemingly duplicate pages are the pages generated by Drupal which are spanned across multiple pages. The URL differs on each page by adding "?page=##" to the URL and often the page title is the same on each page. Looking in my Google Webmasters Tools account, pages with Duplicate title tags are reported in the Content Analysis section. Among the supposed duplicate pages are for "/blog?page=##" and "/tracker?page=##" and similar pages.
This discussion shows robots.txt configuration tricks to reduce duplicate pages.