Use Cucusoft, it is shareware but you can get a free trial. The free trial sucks because it puts this mark on the video that says cucusoft so it is annoying. But it is very easy to use.
http://www.cucusoft.com/DVD-Ripper.asp
They have a bunch of other software for other purposes
http://www.cucusoft.com/DVD-Ripper.asp
They have a bunch of other software for other purposes