I have been using RAID for many years — RAID-1 at work as I only have two drives and don't need much storage space, and RAID-5 at home. A couple of years ago when I upgraded my computer at work, I downloaded at least three different backup systems to try out. The goals were simplicity of use, keeping historical versions of files, and relatively low storage space.
After setting up bacula, I never bothered with the other backup applications.
I found bacula to be highly flexible, adapted very well to the set of many virtual machines I use, and is the easiest to maintain. I just set it up once (or after any major re-partitioning) with a specific list of files and directories to back up or exclude, then practically forget about it. It's saved my files a number of times already from accidental deletion or overwriting, and I used it once for a full restore at home after upgrading my computer including a new RAID array.
At work my excess hard drive space is enough to store all my full and incremental backups locally, but I also have it back up critical files to a corporate NFS server. At home I use LTO-4 tapes, which provide plenty of backup storage for over 2 terabytes of data; and whenever it runs a full backup I take the used tapes off-site for extra security.