I use a software called Magic DVD copier.
It knocks out all copy protection and region coding, and gets updated regularly to account for new copy protections like the one that WB put on the Dark Knight DVD.
Its the only software I actually pay for (and its very inexpensive).
The prog itself is very simple to operate, with very little in the way of options to confuse the uninitiated.
If you have two drives, its very easy to just leave it copying in the background rather than having to burn and mount isos, but you can burn direct to your HD if you wish.
Some of the options it does give you are to copy the whole disc or just the movie. to condense a dual layer disc down onto a single layer disc or spread it over two discs at full quality.
Just for the record, its only illegal to copy discs if you are selling them or giving them away, if its for back up purposes and you retain the original copy, then its totally legal.
