I use lsdvd and mencoder.
I use lsdvd to find the right title number. Usually it is the longest one. When in doubt I play the tile with mplayer to make sure it is not the director's commentary or what not. i.e. mplayer dvd://<title no>
Then I use the following mencoder command:
Code:
mencoder dvd://<tile no> -oac copy -ovc copy -of mpeg -mpegopts format=dvd -o movie.mpg