Try DVDFab HD Decrypter and imgburn (both free). However, note that when you install dvdfab, you will also start the trial period counter for their commercial products. If you do this, you might want to try DVDFab Gold or Platinum.
Don’t forget to use quality media (Verbatim available locally or Taiyo Yuden available on-line). If you’re using DL media, only use Verbatim.
*** Please post back if you have issues regarding compression. This will not be an issue if you use DL media but might be if you want to duplicate the disc in its entirety.