There's a few that can do the job.
I always try DVDDecrypter first even though it's been discontinued for a very long time since it works for most DVDs but some do use newer protection it can't beat.
If it fails, then you can use AnyDVD(not free), DVDFab HD Decrypter or DVDFab Passkey(Not free but has a trial and a limited free version after that might works still for DVDs) or Makemkv(free while in beta I think and it's been in beta since forever ago, but it copies(not re-encode) the DVD into a mkv file so it can be trickier to use it as a source in other encoding softwares) which are all current solutions.