I'd agree that the three ripping methods Arachne gave you are the best out there, and possibly the most used and thus the most supported with help by other users on forums such as this. Both
DvdFab Decrypter and Ripit4me are free programs. You may find Fab easier to use.
Also, you will need a burner, such as Clonedevd or
Nero, neither of which are free.
There are free burners out there such as Imgburn.