I, personally, don't do this anymore, but back in the day, before the legalities were so clear, I used to frequent the afterdawn forums (mostly for music, but DVD copying showed up as I was bowing out...). They are still quite active and can give you all the info you need...
Ive got some nice software on my laptop for making perfectly legal dvd backups of dvds you currently own Ill get the name in a few.
Ah thats the name, thanks! Remember, this is how you rip dvds you currently own for the purpose of making backups