Many newer commercial dvds have some advanced protection schemes added to them to prevent copying. DVDShrink and DVDDecrypter haven't been updated in years, and so are ineffective in removing these.
Get DVDFab HD Decrypter. It is free, and is updated regularly. DVDFab is a commercial program, but DVDFab HD Decrypter is the free decryption/ripping section, and it will remain functional even after the trial for the main section expires. http://www.dvdfab.com/free.htm
You can rip to the hard drive as files, either the complete movie or just the main movie. DVDFab HD Decrypter can also rip as an ISO, but there were problems recently with this function, and I don't know if it has been fixed yet, so I'd rip as files. You can then reduce the size of the files to fit onto a blank dvdr using Nero Recode or DVDShrink.
Burn to a disk with ImgBurn, a free burning program. www.imgburn.com Read the guides on how to use it: http://forum.imgburn.com/index.php?showforum=4
Burn 16x Verbatim or Sony at 8x or 12x. Those should be good quality, the Verbatims especially.