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Open your DVD in explorer so you can see the content of the disc. It should look pretty much as the picture shows. Drag all the vob files to the Desktop. You can't see which files are vob in that pic because you have file extensions turned off. To turn them on, go to Control Panel > Folder Options > View tab and untick 'Hide extensions for known file types'.
Once you have them copied, play them individually to make sure you haven't copied any unnecessary menus (likely the first one). Once you have only the video footage then open up a command prompt from the Desktop. To do this, hold shift and right-click on an empty space on the Desktop, then choose 'Open command window here'. In the window type
copy /b vts_01_1.vob + vts_01_2.vob + vts_01_3.vob footage.vob
That is just an example. You need to use the names of the vobs that you have on your desktop, the last name being what you want the file to be called. This will join the files into one large vob without any loss of quality.
If that's too much trouble and you don't care about a slight loss of quality, then there are many tools available. For a novice I'd suggest FairUse Wizard or Freemake, both are free.