Handbrake's generally what I go for if I need to rip a DVD and don't want to mess round much (though it's good if you want to mess round too).

the only little hiccup is that you now need to seperately grab libdvdcss to mitigate copy protection, which can either stop you opening a disc entirely, or just give you glitchy output.

• libdvdcss page on the Videolan website.
• libdvdcss in the 'extra' repo.
• download.videolan.org/pub/libdvdcss/ directory and find the most recent folder with a Windows version, if you need it for that OS. As of writing this it was 1.2.13, though the most recent release was 1.4.0.

If you're using Windows you'll have to stick that .DLL in your handbrake folder (probably C:\Program Files\handbrake)