> Do you mean to end up with a single mkv file that includes all the menus
> etc, and is essentially indistinguishable from the DVD? A quick Google
> search didn't come up with any instructions to do this (admittedly it was
> *very* quick) - do you have any pointers?
Look for DvdMenuXtractor. It extracts all the meaningful info from a DVD file structure and prepares scripts to merge them back in Matroska with mkvtoolnix. It's not a 100% safe tool and is unmaintained. It was mostly a proof of concept, but VLC is supposed to play the produced files, including the DVD menus.
I don't suggest playing such files on the web though ;)