I use DVD-Decrypter (http://mrbass.org/dvdrip/)
From the menu choose Mode > ISO > Write
Way easier than Alcohol 120 and its freeware that never expires. And get 7-zip if you want free software that handles zip, rar and many other compression formats. Also freeware and an excellent performer.
DVD-Decrypter can rip DVDs as well as burn them (and also burn .iso images)
That is the program I used to make a duplicate of my Original Avic D3 discs