Are you talking free or paid program? For start you should take a look at DVDFab HD Decrypter
This version will decrypt the dvd protection allowing you to freely backup your dvd. But if I think you will need to use DL media in backing with this free program that is the only media it uses. The paid version Dvdfab Plat allows you to go use either dvd9 or dvd5 as the destination media from the source media.