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 short answer is yes. I am not a lawyer, so I won't comment on the legality of it, but I think it's generally acceptable to make backups of media that you own for your own personal in-home consumption.
If you're on a Mac, I would recommend RipIt.
If you're on a PC, check out SlySoft products.
Both options allow you to make backups with menus/chapters/etc intact.
theres alot better free ones out there than those mentioned if you look hard enough.
dvd flick,dvdfab,dvd shrink and imgburn to put them on to a disk
To copy DVD to hard drive, Aunsoft DVD ripper is a great help. It can make full copy of DVD discs or converting DVD to other foramts and HD foramts for using and viewing. And for using in iPod, I recommend to convert DVD to HD MP4 which is well supported by iPod.