If you've copied your dvd onto your hdd, then I'm assuming you've got a bunch of .vob files. I've used PowerDVD to do what you're trying to do, but it's been a while. If I remember correctly, you don't get the menu as you normally would if you pop in a dvd. Rather, you can simply open/play each individual .vob file.
If I'm wrong, please feel free to correct my comments. Good luck.