Provided you have the VIDEO_TS folder or .ISO file on your computer (ripped from the Disk) all you need is
VLC Player. Right-click on the VIDEO_TS folder or the ISO file and then choose to play with VLC Player. You'll get full DVD/menu functionality.
If you want one simple MPEG 2 file of your DVD with no menu functionality (for a tablet?), then I suggest
VOB2MPG. It will join up the movie VOB files into one large MPEG.