You can RIP and burn a DVD using free tools from
DVD Shrink will read and compress the contents of a DVD so it
will fit on 4.37G burnable DVD media. You need to create a
directory to save the image. It will be easiest if you also create
a subdirectory called video_ts and save to it.
imgtool will read the video_ts files just created by DVD Shrink
and create an IMG image on the hard drive. Map the drive to the directory
above the video_ts directory.
DVD Decrypter will burn the IMG to a DVD. DVD decrypter can also
be used to read ISO images from DVDs and is the only tool needed if the
DVD size is less than 4.37GB