To be able to copy protected DVD movies you need software that overrides the protection.
AnyDVD is about the best there is for that but it costs. DVD43 , as chef suggests, is free.
These 2 run in tha background & you then copy the movie with DVD Shrink or CloneDVD. The first one is free the second costs.
DVD Decrypter is an app to rip the movie to your HD so that DVD SHrink can then set about removing extras & compressing it to fit on a blank DVD. DVD Decrypter will overcome all but the latest protections & so might do for you.