DVD Shrink (One of my personal favorites) or the CloneDVD2/AnyDVD Combo (Tyler's Fav.)
If you are going for quality (over speed) then you should check out
The Big 3 it is a process that is creates almost perfect quality backups and keeps a functional menu. But, this process can take DAYS unless you have a brand-new comp (3.0+ GHZ, 1 GB Ram, etc)
P.S. Use
DVD Decrypter as a free DVD ripper if you don't want to spend the $ on AnyDVD.