Required Hardware: GDR8082N USB DVD Drive or Wii
Windows: Use FriiDump 0.5.3
Linux: Use FreeDump 0.5.3
Run FriiDump with no arguments/flags, read the help text.
Using Wii: CleanRip
Windows: Use Alchohol 120%
Windows: Use DVD Decrypter
There are other more recent updated programs however, this is the only one I can find that doesn't ask you to install toolbars and other malware.
Step 1: Put your PS2 disc into your computer.
Step 2: Open DVD Decrypter
Step 3: Click Mode>ISO>Read
Step 4: Choose the destination of the file, by clicking the little folder+magnifying glass button.
Step 5: Click the DVD button at the bottom.
Step 6: Wait for it to finish burning.
Step 7: Play ISO in whatever emulator you use (pcsx2 is recommended)
Required Hardware: PS3 w/ CFW or Blu-Ray Drive (?)
Using PS3: Pretty sure multiMAN can do this (?)
Required Hardware: Broadband adapter, CD-R Drive