I'm looking for a piece of software that can rip a segment of video (preferably a DVD chapter) with sound and with subtitles overlayed. I've used VLC for this before, but it doesn't seem to want to overlay the subtitles from certain DVDs onto the video. The end format is not very important as long as I can get reasonably high quality.

Do you know if there's a good tool for this, if I can get VLC to do this still (feels like I've tried all combinations possible, though) or if there's any other simple way to do this?