You either need DVD Decrypter or AnyDVD. These both take off the CSS protection on the DVD. If you are on a low budget I would suggest DVD decrypter as this is free. But with that you have to rip the DVD to hard drive, if you AnyDVD you dont have to. But AnyDVD is like gold expensive and precious.
Then use DVD Shrink, or use CloneDVD2 which is tonnes better except it costs.