General video to DVD I suggest FAVC:
http://forum.doom9.org/showthread.php?t=106677
DVDs are protected so you will need ripping software, courtesy of companies tools seem to be dropping like flies.
Still
DVD Decrypter, made by the same person as IMGBurn. Perhaps the best of the decrypters. Taken out by Macrovision a while back.
http://www.doom9.org/ download section has it.
Ripit4me. DVDs more recently have had so called structure protection. This means corrupt sections get written and when the DVD ripper (and some players for that matter) appears and tries to read and error occurs. Naturally you can skip said junk and all is pretty good (bar the huge bit of junk you now have in you rip, search for Fixvts if you do not want to use a later version of ripit4me). Ripit4me automates this whole process.
http://forum.doom9.org/ is a place to find this (normally on a rapidshare style site), or if you are having great difficulty you can tap me for it.
There are a bunch of other ways but this one works and works well.
Now you can get a shiny DVD image but you will likely find it about 5-9 gigs: too much for a single layer DVD.
DVDShrink, popular thought has it that this became Nero Recode. It drops stuff and compresses the video to make it fit on a small DVD.
http://www.doom9.org/ has it (main site got taken down by macrovision (yeah the same one as above) a while back)
If you are after a bit more complexity DVD rebuilder it there, instead of compressing the stream this re-encodes it making for a slightly better image. Time taken is more and DVD shrink is great so try that first.
It gets more complex the more you dig into it but this should get you started and will enable you to make great rips.
For further stuff look up:
vobblanker: This can blank stuff out of DVDs (much like dropping extras with DVD shrink), useful if you want to lose the copy this DVD and beware the red dot message while keeping menus with DVD Shrink as well as few more advanced things.
PCGEdit: complex as you like but you will not find anything more powerful outside of a $50K video lab.
http://download.videohelp.com/r0lZ/pgcedit/
Ifoedit, vobedit: some more simplified tools useful for cutting up stuff and doing simple things, more simple but more limited the PCGEdit.
Rejig: a more complex version of DVD shrink so to speak.
http://forum.doom9.org/showthread.php?s=&threadid=66777
All programs are free (or have marginally limited free versions) and I use them all the time.