Any way to rip DVD movies into my hard drive?

I don’t want to “pirate” any movies, but would like to rip DVD’s that I bought into my computer so I can put them on my iPod.
Are there ways to rip copy protected DVD’s with many chapters/episodes etc?
Which software allows me to do it? Is it legal?

DVDFAB, http://www.dvdfab.com/?aid=2393&vid=avangate. Use the free 30 day trial to see if it meets your needs.

Once the trial for DVDFab finishes, the decryption section will still work for most movies. It will not be updated as quickly as the commercial version and will stay about 6-8 weeks behind on encryption updates.

You’ll need another program to convert the dvds to a format that is compatible with iPods. I suggest this free one: Handbrake