I'd go free. DVD Shrink 3.2 and DVD Decrypter are awesome choices and you can burn with DVD Decrypter in ISO mode. I personally use CloneDVD2/AnyDVD in combination ($59 for the combo pack if I remember correctly) and it works marvelously. AnyDVD is great because it sits in the background and you don't need to decrypt the movies.
Nero Recode is another good program as well and is simple to use like CloneDVD2 and DVD Shrink 3.2. Uhm, pretty much they are the big 3 I recommend - there is a bunch of other software out there but I'd stay away from DVD XCopy in any form or version but that is just my personal opinion.