We have double pane windows in our almost 4 year old house. The inside
of the window has lot of condensation and water drops forming and
collecting on the window sill. Is this normal? My homeowners manual
says that this happens "due to good insulation" and it's not under
warranty?

Could someone please explain what I should do? Is this because of good
insulation or poor insulation? Is there anything I can do to prevent
this from happening?

Thanks.