I use DVD Fab Decrypter:
http://www.afterdawn.com/software/vi...ab_Express.cfm
The only thing that I do not like about it is that it rips each chapter to a seperate file! Things would all be simpler if you could just make a disk image. All I am doing is making backup copies anyway since I can't seem to keep a disk without scratching it.
Please note: Ripping DVD's takes up MASSIVE amounts of disk space. I have about four on my hard drive, and they are taking up 30GB!!