You can use DVDFab Converter to rip the DVD to a standard video format, then you can encode it back to the format you want. The burning process can be done with almost any burning solution available on the Internet. DVDFab also decrypts the DVD format, making it available for copying.
Legal: This procedure should be done only for your personal needs. According to laws, you don't have the right to distribute, copy, or perform any other income-related operation with the DVD.