I don't know of a single program to do it. A two step might be ripping the DVD with DVDFab HD Decrypter then AVStoDVD to author a new movie with a menu.
Thanks attar. I don't think I will have a lot of questions any more until I decide to start authoring discs with more complicated menus. I found what I need for ripping. I was just not satisfied with quality of of my avi files so I started ripping to MPEG with WinX DVD Ripper. I know my opinion is probably worth spit here since I'm not a long time member but it is an amazing program. You can us it to convert to avi MPEG MP4 WMV MOV FLV with audio being able to be converted with mp3 or ac3 with setting for audio sample rate, audio quality, and tons of options for video quality and format.