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RIP the entire DVD to your hard drive with DVDFab HD Decrypter. (Alternatively,
you can use DVD Decrypter to RIP the DVD instead of
DVDFab HD Decrypter, but I like to use DVDFab because it is
updated frequently to handle new copy protections.)

-
Convert the entire DVD folder on your hard drive or just the main movie (depending
on size) to an ISO file using DVD Shrink. If you copy only the
main movie, the DVD will play automatically without any annoying copyright notices
or previews! This is a nice benefit.

(You can delete the folder created in step 1 now)
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Burn the ISO file using Nero or DVD Decrypter. There is an option
in DVD Shrink to convert to an ISO, then automatically burn using
DVD Decrypter. I have used this and it works fine. However, I usually
use Nero. Although my DVD burner will burn up to 8X, I never burn at more than 2X
to insure perfect copies. I never run anything else when I am burning a DVD and
I also turn on the Verify-After-Copy option. This is slow, but do you want perfect
copies or plastic coasters? I have copied hundreds of DVDs this way.

(You can delete the ISO file created in step 2 now)
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Enjoy.