The best thing to use is Slysofts Any DVD.
The later versions even remove encryption from Blu-ray and HD DVDs
You just install the program and it runs quietly in the background and scans any DVD or CD that you put in your pc.
A message comes up asking you to wait a couple of seconds then you can do anything you want with the CD/DVD with any copying or burning program.
Its a perfectly legal program to buy and use but I believe that Slysoft are getting some hassle from the DRM people about it