Use free DVD Decrypter to rip DVD to hd
http://www.dvddecrypter.com/

It is possible to edit DVD content and burn it one more time.
Note that some programs will recompress you video one more time and it is not very good.

What exactly do you wanna do with your DVD video?
Do you want to convert DVD-9 (dual layer) to DVD-5?
Do you wanna add your own DVD menu?
Do you wanna add some video effects?