We calculate the Isgur-Wise function (xi0) by measuring the heavy-heavy meson transition matrix element on the lattice in the quenched approximation. The standard Wilson action is used for both the heavy and the light quarks. Our numerical results are compared with various model calculations and experimental data. In particular, using a linear fit, we find rho2 = 1.24 +/- 0.26 +/- 0.33 (The slope of xi0 at the zero-recoil point is -rho2). Using instead the parametrization of xi0 suggested by Neubert and Rieckert and fitting the lattice data up to nu . nu' - 1.2, we find rho(NR)2 = 1.41 +/- 0.19 +/- 0.38.