Rip with DVDecrypter.
Reauthor (not edit) in DVDLab to add your transitions, fades, etc.
It's far easier than editing mpeg, unless you already have premiere pro or something similar.
The only problem most mpeg editors have, is that they will re-encode the entire video after editing, causing no end of possible problems, especially with video resizing. Most advanced editors I've used will re-encode to FULL D1, no matter how compliant the original mpeg is.
Authoring doesn't do that.
If you just want to cut out credits or something similar, then Cuttermaran will do that easily.
I have some VHS tapes of stuff that has now been released on DVD.
As a challenge, I rent the DVD, see how the original menus and chapters have been done, rip the VHS, and recreate the stuff in DVDLab.
Yes, I could have easily ripped the dvd, shrink, and reburn, but that would be stealing!