You came to the right place! A very good selection of FREEWARE that will perform the backup task includes the following: Ripit4me, DVD Decrypter, FixVTS, DVD Shrink and ImgBrn. There are other programs that work, some you can pay for but I find that this group works very well. Ripit4me acts as a "front end" with FixVTS, DVD Decrypter and DVD Shrink. start here -- http://www.ripit4me.org/download.html
CDFreak veterans can offer other ideas and more help if you have more questions.