Slysoft AnyDVD 6.1.6.0 (There are cracked versions of this)
DVD Shrink 3.2 (freeware)
NERO 6.3.1.25 (This also has cracked versions)
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Youtube makes the quality really crappy, so I included the Higher quality one in the link. (its not uber HQ though).
Any questions feel free to ask.
PS- Something I left out when ripping with DVD shrink. Make sure that you don't rip too large of a file, if need be- take out other languages, commentaries, deleted scenes, or whatever you don't care about.