DVD Decrypter and DVD Shrink in the past have been the gold standard however; as of now, neither program is being updated. Let me tell you what I use.
AnyDVD automatically loads in the background when I boot my computer however; when I put a DVD Movie disc in my DVD-ROM, I get a task box asking what I would like to do. I always start DVD Decrypter and decrypt the disc to a folder on my hard drive. Since AnyDVD is also running in the background (and AnyDVD is updated on occasion), I am assured of getting a perfectly ripped (copy protection removed) copy of the DVD into that folder.
At that point, I can use DVD Shrink to reduce the movie small enough to fit on a single 4.7GB DVD-R, or I can use Roxio Easy Media Creator 7.5 or CloneDVD 2 to write the movie to DVD. After shrinking the movie it will fit on a single layer DVD-R.
Since my DVD burner will write to a DVD+R Dual Layer Disc, I can again use either Roxio or CloneDVD 2 to write all the information from the folder that has not been Shrunk using DVD Shrink.
Now DVD Decrypter and DVD Shrink are both a free download (which you can access from cdfreaks.com) however; since neither of them will be updated in the future, I felt it best to also purchase AnyDVD & CloneDVD 2 from SlySoft so that I would have more options available to rip and write dvd's.