How do I edit video/sound when copying DVDs?

I want to be able to make certain DVDs family friendly by deleting sound bits where swearing appears, and deleting either the video, or simply a short chunk of the movie during nude scenes. I then want to be able to burn the finished product to DVD-R. Preferably, I would edit the .VOB files directly, while keeping all the original extras on the DVD. What is the easiest way to do this (using any software available)?

https://www.videohelp.com/forum/viewtopic.php?t=266232

keeping extras would require tons of work.
bleeping swearing would also require lots of work...easiest is just to cut it.

Thanks for the replies. I am familiar with various sound editing programs, but what my lazy self is hoping for is something where I can simply import the .VOB files and it will take care of the rest automatically - all I want to have to do is select the parts I want cut and hit cut. Software accessibility is not a problem. Do you know of any software that will do it that simply?