It is possible, yes. However, it is illegal to do so. Of course, if you are just doing it for private use then no one is really going to notice/care. The reason you are finding it hard is because they encrypt the DVDs to stop people from ripping and burning them. It is bypassing this encryption that is illegal to do, so I'm not going to tell you how to do it. Although, most basic DVD ripping programs available probably allow the option, and I'm sure a search on Google will be lucrative too.
I'm assuming you're in the US where such laws are rather strict. If so, you could argue that even having such software on your computer is illegal. In other countries, it's a much greyer area, and the courts are fine with people doing things for personal use.
EDIT - I just noticed you're in Canada, and I think Canada allows one copy per DVD for personal use, at least at present. There may be legislation coming through to disallow bypassing the encryption. But yes, just search on Google for DVD ripping software and you should be able to work from that.