ARS Technica has a great article about this. They recommend LAME and I personally use Exact Audio Copy as the program to rip. It requires more know how than most programs, but it's fast and efficient and always works for me. Meaning even discs that are not supposed to be rip-able are. Also, you may want to make it a habit to hold the shift key down as you close your CD-ROM door as this disables most of the DRM software.
I hope that's helpful

jr

"What can be asserted without evidence can also be dismissed without evidence." C Hitchens