I use
Auto Gordian Knot. You can download it for free here:
http://download.cnet.com/AutoGordianKnot/3000-2140_4-10707030.html, or from any of a number of other free app sites.
You'll also need
DVD Decrypter, or a similar program, to be able to move .VOB files from a DVD to your hard drive. Version 3.53 was the final version of DVD Decrypter. It did its job too well, and eventually Sony or one of the other media giants bought the software from the designer, and withdrew it from the market.
If you need a copy of DVDD3.53, let me know by PM, and I'll upload a copy for you somewhere, and give you a link. It's a small app; probably less than 4 MB.