Import the VOB files. At least if the DVD adheres strictly to the DVD specs and preferably was burned with Encore, does not contain multi-angles, and other things that can disrupt opening them, like DTS, multiple subtitles or languages, etc.
Read Bill Hunt on editing a VOB/MPG file
If that doesn't work...
I have NOT used these products, I only forward due to other mentions
Edit Vob http://premierepro.wikia.com/wiki/FAQ:How_do_I_import_VOB_files_/_edit_a_DVD%3F
$90 http://www.magix.com/us/movie-edit-pro/ plus $5 Ship
$70 http://www.nchsoftware.com/prism/index.html Converter
$40 http://www.deskshare.com/dmc.aspx Digital Media Converter
$00 http://www.squared5.com/ MPEG Streamclip Converter
$00 http://www.erightsoft.com/SUPER.html Multi-Converter
$00 http://www.virtualdub.org/ Mpeg to AVI Converter
Basically, after reading the links you provided and the links therein, I have learned that the Adobe products are useless for importing from a DVD and a third-party app is required for this!
Adobe products are useless for importing from a DVD and a third-party app is required for this!
Well, that depends. As of CS4.2, VOB Import is very possible, so long as the VOB is 100% DVD-compliant. Actually, PrPro's "little-brother," PrElements has had this capability for a few versions now. The 100% DVD-compatibility is the important aspect. Most DVR's, multi-deck units, many mini DVD cameras, and the like, do not create 100% DVD-compliant VOB's. Many programs are also guilty of this. They play fast-n-loose with the DVD-specs. so Adobe is not to blame - go back to the source of those VOB's. If a program, like Encore, produced them, they will Import just fine.
If one does NOT have a 100% DVD-compliant VOB, then ripping software, or hardware workarounds ARE needed.
Now, one MUST remember that the Video streams have already been compressed into MPEG-2's, and if one then Exports to MPEG-2 for the authoring of a DVD, the quality will take a major hit. That can ONLY be avoided by using an NLE that offers "smart rendering," and then ONLY for material that is only cut, with no Effects, overlay Titles, etc., added. This is why VOB Import was so long coming to PrPro - it's not meant to be edited, as it is a delivery scheme. That is also why DivX Import is not supported - it's a good CODEC for delivery, but it's not meant to be edited, at least not by a pro-level NLE.
I have learned that the Adobe products are useless for importing from a DVD
To be fair, DVD is a finished product. It is what you end up with, not what you typically start out with. When using proper source material, Adobe's NLE works quite well.
How does one import a VOB into Encore? I do not see the command for it. Is it possible to output MPEG without degradation in quality?
Encore does not Import VOB's. It produces VOB's along with the full VIDEO_TS structure. You need to Import any VOB into PrPro CS4.2, or later, and NOT into En.
As far as Importing the material in the VOB, if all is as you wish it, then you must rip the MPEG-2 from the VOB container, and then Import that. If your authoring program produced 100% DVD-compatible MPEG-2's, that will Import into En with no need to Transcode.
Sorry that I missed that part earlier,
Is there a command for this, or a number of steps?
Above, John T. Smith linked to my DVD - VOB Article. It contains a few different workflows, with the general steps. This is another such ARTICLE. Though the material is in digital form already (unlike, say VHS), the general steps in certain workflows will be very, very similar.