Two programs that are still being updated for newer protections as they appear are AnyDVD and DVDFab. Both are commercial products, but there are free trials available for download.
AnyDVD by itself just breaks encyrption (and can rip to the hard drive) it won't reduce the size to fit a single layer blank dvd. You can use a free program with it called DVDShrink for that. DVDFab is a complete package.
It is still possible to do the entire process with free tools. DVDFab has a free section called DVDFab HD Decrypter. It will continue to function even after the trial is expired, and you can update it. Use this to decrypt and rip the files to the hard drive. Then use DVDShrink to reduce the size if necessary. You can then burn to a disk using a free burning program called ImgBurn.
You can find DVDFab HD Decrypter here: http://www.dvdfab.com/free.htm
DVDShrink is here: http://www.cdfreaks.com/software/Copy-DVD-Movie-Software/DVDshrink/DVDShrink.html
There are many guides for using Shrink, here in our Copy Movie forum, or at dvdshrink.info or mrbass.org. Look in the ImgBurn forum for guides to using it.