Again, I must emphasize the fact that it is much more simple, much quicker and results in far better quality if you use a dvd decryption/ripping program rather than capturing the video as it plays!
Try the trial for DVDFab. Once the trial ends, it still has a free section that we've already mentioned called DVDFab HD Decrypter, which will work to decrypt and rip the movies to the hard drive.
AnyDVD is the other main option. There is no free version, but there is a trial available.
MakeMKV is free to use, but will rip dvd main movie only, and puts the movie into an mkv file instead of dvd-video structre.
And there is one other free option, called BDLot ISO Master. It will rip the entire disc to the hard drive as an ISO file. Once on the hard drive you can play this ISO file with VLC media player, or you can mount it in a virtual drive and it will act just like the original disc, minus the encryption.
Many commercial dvds have only simple CSS encryption, but there are a fair number that have more advanced protections, and new protection schemes come out regularly. You should, therefore, use a program that keeps up with the new protections. DVDFab and AnyDVD are the two best for this.