Best one I've found is DVDDecryptor. I'ts free, removes the CSS protection and even lets you change the region if you need to. You can write the DVD to your hard drive as a folder of VOB files, or save it in ISO mode to burn it to disk or play from a virtual drive (daemon tools). Simple as heck to use, one click and you've got it in about 10 minutes. Find it here:
Http://www.dvddecrypter.com