I don't know if there's a free way or a paid way, yet.
I spent $127 on Xilisoft products, but had issues (Symantec flagged two products as possible viruses, never could make a loss less extraction). They were kind enough to grant me a refund.
DVDFab says they won't grant a refund: it's shareware. Try it and if I like it, buy it. I've tried it, but didn't have enough time (full time busy) in the 30-day trial to determine if (though some say yes) it can and if so, how, to make the loss less extraction.
If it works, I'm sure I'll find it necessary to purchase their "buy everything & the kitchen sink lifetime" package...but I have no way to determine if it works. Kind of in a catch 22, no?