A copied version will never be as good as the original. There are many programs out there that can do what you want. But they convert the DVD into a more Computer standard format, AVI, DiVx etc. To play a film in this way on the TV would require a DVD capable of playing VCD or even SVCD. If your lucky it will play DivX, but i do not think they have reached this country yet.
Most prgrams out there only copy the FILM and not the special features etc associated with a DVD. But as they are free who is complaining? It is not so much copying that is involved in this, it is the converting of a DVD. The time is takes to do this will depend on the specification of your PC- " Faster PC, faster coversion".
You can shove a 2 hour film on a CD but the quality will be poor, 2 Cd's qualitly improves and so on...
The big daddy of DVD copying is this >
http://www.dvdxcopy.com
and it just copies the DVD and everything on it.
You should be aware though that copying a copyrighted DVD is illegal, unless of course you have permission from the copyright holder. An example of this is that DVDXCOPY, the studios are not very happy with it....
Your best bet it is to experiment...
This site explains it all and even more than that,
http://www.dvdrhelp.com