To keep it simple and free …use two programs.
one for ripping, one for burning.
Download DVDFab HD Decrypter (ripping / decrypting program).
Download Imgburn (very good burning program)
Use DVDFab HD Decrypter to rip the movie to your hard drive.
(Designate a folder in My Docs or some other easy to remember place so you can find your ripped movies after DVD Fab is done.
Use Imgburn to burn the ripped movie from hard drive to disc.
These are your best freebies.....and easiest to use
Hope this helps.....