OK, so it is not my greatest work, but if you need to do this, try my lttle guide first. It is so remedial in some cases that it may offend or bore, but if you are a newbie or are unsure this should get you through the process.
First off you will need a few pieces of SW, (both are FREE!!) and they can be found at www.doom9.org . I hope he doesn't mind the reference here, I didn't want to put it on the webpage. DVD Decryptor and DVD Shrink (which was just released yesterday). This is the best answer yet for a FREE and powerful app to do a DVD copy. It is a whopping 200K so all you 56K dial-up guys, get ready for atleast a 5 second download. DVD Decryptor weighs in at a hefty 600K.
Anyway this method will not create menus, but it will keep the main movie intact, cutout extras and give extremely good results in most cases. If you are trying to rip a 9G movie to a 4.38G disc, then you are going to have problems with this method. This is for a quick and dirty rip, and when I say quick I mean less than 40 minutes to be ready to burn. You can't beat that with a big stick.
Here is the guide. It is not an all inclusive, end all be all instruction. There are a lot more things that can be done with this SW, but it should get your feet wet. At a minimum you can sample the quality, test the process and see if you want to explore it further.
http://www.geocities.com/ashasha3/
You may need to copy/past this ink, Geocities is pretty snobby about links. Sorry.