I think this is what you will find is the best way for a DVD you need to recover.
Assuming it is a commercial copy protected DVD you need a decrypter.
I use AnyDVD but did some tests a while back with PassKey Lite & it worked too.
I uninstalled PassKey Lite after that because of warning messages between it & AnyDVD.
Since you have AnyDVD it should work well for this.
You need to downloadIsoPuzzle
All you need to do is unzip it & it works as a portable.
To the folder you unzip it to you will need the wnaspi32.dll .
The best one for IsoPuzzle is in h2cdimage.
You can download it here .h2cdimage
Unzip it & copy & paste the wnaspi32.dll into the IsoPuzzle folder.
Then With AnyDVD activated Open IsoPuzzle & used it to rip the DVD.
Then load the .iso into VirtualCloneDrive & burn it to a DVD.
If you want to you can use h2cdimage itself from command line.
This takes some learning .