Any way to rip DVD movies into my hard drive?

I don't want to "pirate" any movies, but would like to rip DVD's that I bought into my computer so I can put them on my iPod.

Are there ways to rip copy protected DVD's with many chapters/episodes etc?

Which software allows me to do it? Is it legal?

The fair use doctrine says it's ok to do for personal use. However, the DMCA says it's illegal to break the copyright protection which is on most commercial dvd's... even for personal use.

Yes, there is software that will still do things like this.