The BEST software for you to use is one that works for you and does the job you expect of it. The next 20 posts will all recomend something different as everyone has different requirements.
Try a few yourself, DVD2one, InstantCopy7, dvd95copy, dvd x copy or if your looking for a quality conversion and not necessarily the quickest, then DVD2DVD-R or DVD2SVCD with CCE is your answer. Have a read of some of the tutorials in the DVD Tutorial section as well.