Is there a program that can make DVD copies for free?

Is there a freeware program can I get that would allow me to make copies of my DVD collection. I don't want to make bootlegs or anything, I just want to make backups of my favorite movies so the kids don't keep scratching the originals and I have to go out and buy all new copies; just like I do for my CD collection. Will I have to get decryption software too since they are copyrighted, or is there a program that can make copies without any of the extra hle?