you do know that ripping DVD games to fit to CD-R will require you to remove and/or downsample audio and movies from the game. Getting a DVD burner would be your best method...but, if you insist on ripping, you can use a "rip kit" which are designed for particular games, or you can check
http://www.megagames.com/ps2/ps2_guides_rip.shtml for a DVD ripping tutorial. Next time try using the search function in the forum.