Download the latest version of MakeMKV and install it.

You can rip BDs for free during the 30-days trail period, after that you need to purchase a license for 50 Euro.

Run MakeMKV, insert your disc, and click on the disc icon. It will take a while until the tracks are recognized and shown, depending on what copy protection is used for the disc.

Select the audio and subtitle tracks you want to rip (all will be included into 1 single mkv file), and hit “Make MKV”.

Make sure you tick “Mpeg4-MVC-3D” in the selection of streams before ripping the disc, if you want to rip a 3D disc.

The resulting mkv file is not compressed, and can be more than 30GB for a BD. To compress this mkv file into a file much smaller is explained in the guides for Handbrake - 2D: Compress and customize mkv video file, and BD3D2MK3D - 3D: Create, compress, and customize mkv video file.

After inserting a disc when MakeMKV is loaded you can also open and watch the disc with VLC.