DVDFab Decrypter is good if you want to burn copies onto DL discs as it rips the entire disc.
If you just want to burn copies on +R or -R discs you will lose quality but DVD Shrink is what I use, such a great program.
I then use Nero Burning Rom to burn the ifo, bup and vob files.
These are the programs I use but there are many other alternatives. I found these ones to be really easy to use.