You could try DVD Shrink and DVD Decrypter (both free) for starters. Software and guides avaialble from the corresponding Tabs at the top of this page.
I recommend super dvd copy 1 click and u can burn the dvd it works very good. i havnt had any trouble with it, but if you dont want menus on your dvd then i would go with dvd shrink
If you want to use Nero Recode 2 you have a few options. Ill just give you the 2 I use. DVD Decrypter: use to rip files to hard drive then access them files with Recode2 Decrypter will take off the copy protection. AnyDVD version 4.5.2.1 : I use this most often. Install it and let it run in the back ground while Recode2 does its work. Cab get AnyDVD here http://www.slysoft.com/en/download.html