There are a few programs out there that can do this for you.
DVD Decryptor is one of them. Though since the program is not being developed any more, a couple of the newer protections cannot be ripped (you can use PSL files for that).
If the DVD is too large to fit on a normal 4.7gb (DVD-5) you can use programs such as
DVD Shrink (for beginners) or
DVD Rebuilder (for beginners and advanced,
much better quality too!). Then just convert the DVD files to an iso/image and burn with
ImgBurn.
I back up my DVDs all the time. Sometimes you just can't trust certain people with your dvds
/ 
