I like using
DVD Decrypter with
DVD Shrink and Nero 6. It gets rid of the Layer Break and, you can customise were the movie starts and ends.
Or go
here and for $50 (I think) you can get AnyDVD which makes it so your computer (even the OS) thinks the DVD is encryption free.
P.S. If you don't have Nero 6, you can have Shrink make a ISO image from the Files and then use DVD Decrypter to burn the ISO image to a disk.
That means that you can have completely free dvd backups.