What's "best" is just your opinion. You'll find your own method. I can give you a free method, then you can search around these forums from there:
Download DVD Decrypter
Download DVD Shrink
Rip the movie with DVD Decrypter to the hard drive
Encode the movie with DVD Shrink (This will take sometime)
When you get your backup options select ISO Output method and then put a check-box in "Burn automatically with DVD Decrypter".
This is the free way of doing things. Of course, if you have Nero Ultra Edition with Nerovision Express installed I highly recommend ripping the movie with DVD Decrypter first and then importing those files into Nero. Once that is done Nero Recode 2 can take care of all of those recording, etc.
For some good guides check out http://www.afterdawn.com. These got me started and are very straight forward. http://www.dvdshrink.info also has nicely laid out guides that show you click by click what to do.
Good luck and happy DVD Burning!