Sounds like it'll be easy, doesn't it? Insert a blank DVD, open the burning software of your choosing and press the "Burn DVD" button. It actually is that easy if you're burning an unencrypted disk - but what if you want to burn an encrypted one?
I'm not here to argue the legality (or morality) of copying disks that are specifically made to
not be copied. And for the record, I have burned a total of 1 encrypted DVD in my lifetime - yesterday - and that's because it was due back at Blockbuster before I had a chance to watch it. If I end up liking
the movie enough to want to watch it over and over, I
will buy it. I'm a movie buff and I like having a legitimate collection.
So how do you do it?

First, you'll need a free program called
MAC the Ripper. From their site:
"MacTheRipper is intended to backup DVDs you have legally purchased for personal use."Basically, it "rips" the encrypted DVD contents to your harddrive in the form of a folder called
Video_TS. What's great about the Mac the Ripper (MTR), is that you can choose which parts of the DVD you want to extract. Just want the Main Feature and none of the menus or special features? No problem. (This is especially handy if all that extra stuff adds up to more than 4.7GBs and won't fit onto a standard, blank DVD.)
So you've downloaded MTR (which comes with a very helpful guide) and you've managed to rip a DVD to your Desktop. Now what?
If your DVD is less than 4.7GB - or, if you're burning with
Toast - then it's smooth sailing (i.e. skip the rest of this paragraph and continue on to the next). But, if it's more than 4.7GBs and you don't have Toast, then you need to compress the movie with an app like
DVD Remaster or
DVD2one so it'll fit onto one disk.
*Note: If you use Toast, you do not need a compression program because Toast can do it for you. Okay - where were we...
So your Video_TS folder is less than 4.7GBs. If you open the Video_TS folder, you'll see it's filled with a slew of .VOB files. (You'll notice an empty Audio_TS folder as well but you can ignore that.) Now, all you need to do is burn the Video_TS folder to a disk.

I recommend
Toast Titanium, since I have it(!) and it's so easy to use that I burned my first disk without any troubles. (Plus, as mentioned above, if your DVD is more than 4.7GBs, Toast can compress the data so it'll fit on a standard blank disk.) Toast is just CD/DVD burning software - it's one of the better ones (if not
the best) for MAC, but I'm sure other applications will work relatively the same way.
Here's where most people go wrong - if you are burning a Video_TS folder - like we are today - DO NOT tell Toast that you are burning a "Video". Instead, choose
"Data". When you do, four options for burning Data disks appear on the left. Choose
"DVD-ROM (UDF)". Then, drag the Video_TS folder into Toast and name your disk using only CAPS_AND_UNDERSCORES. After you hit the Big Red Burn Button, Toast automatically (re)creates the empty Audio folder which is needed for your DVD to burn and run properly. When it's finished burning, run to your DVD player and test it out.
This is a long post, but it really is a fairly simple process. (One that took a lot of Googling and reading to figure out for myself.) Good luck!