Decrypting DVD's for use with Toast

Alright, before I begin I'm accepting the fact that this may have been asked before.
I just recently got my first mac, after getting completely fed up with Windows on plenty of pc's i took the plunge and made the switch and have zero complaints or problems thus far.

I used to burn plenty of DVD's on my pc's and my first line of business with the mac was to find a way to continue my collection. From my limited research I found out Toast was the easiest and most straightforward way to burn DVD's. I jumped on it and bought it without looking too far into it(possible mistake in the end?). went to copy a dvd and turns out it does not get through the encryption on DVD's(on current settings).

I'm looking for some help in burning encrypted dvd's. Whether it is another program to break the encryption and allow Toast to burn it, or another program altogether to do it all in
one step, please let me know how I can make it happen.

Please note, I plan to burn DVD's for my own personal enjoyment, just for all those peoples that would step up to say something about that.
Thanks in advance to anyone who can help me with this.