Couple ideas
I use DVD Shrink 3.2 and DVD Decrypter with varying success. For the most part you need a software to remove the encryption (DVD Decrypter) and usually you need another one to reduce the movie to 4.7gb unless you are burning dual layer DVDs. Occasionally the process fails, though, because the FCC shut down the DVD Decrypter guy and no new versions are out (publicly at least). I am sure there are others out there, but this is what I am using for now at least. Sometimes I have gotten around the encryption by using DVD Shrink to burn only the movie (not the special features, preview, etc.) to a disc image and then burn that image to the DVD. Either way I have not found a 100 % solution. Both softwares should be available free from a variety of different sites.