There is an excellent video from LinuxTechShow for ripping DVDS with HandBrake. Another good video for ripping Blu-Ray using MakeMKV and HandBrake is here.

To enable decryption, copy http://download.videolan.org/pub/libdvdcss/1.2.12/win64/libdvdcss-2.dll to c:\Program Files\Handbrake.