How do I DVD-Video into a single file

Is there any freeware or commercial software that can turn DVD-Video recordings made with my home DVD recorder into a single file on my hard disk without the meriad of .vob files, etc.? Also can such software edit out the commercials?

Exactly what I want to do is take my favourite T.V. shows and put them on my hard disk for later viewing, I'm not interested in making another DVD, doing anything illegal, or anything like that.