Use a program such as DVD Decrypter, DVD Shrink, AnyDVD etc. - move your mouse pointer to Guides section at top of this page - click - read.
I've been using AnyDVD with CloneDVD2 for quite some time. I have yet to run into a dvd I couldn't copy. If you're just looking to make an exact copy (backup) of your DVD, CloneDVD2 is about the easiest & quickest method yet (IMHO).