If you're getting a "Cyclic Redundancy Check" (CRC) error, then yeah, it's almost certainly because the disc is scratched/dirty. But the original disc may very well play okay. Why is that, you say? Because ripping is a bit-for-bit proposition, normally the ripper goes through a certain number of read retries, then errors out if the error correction fails. You have to tell the ripper how many read retries it should attempt, and for it to ignore read errors. If the errors are not too severe, there may be no evidence of any problems whatever when playing the disc on a set-top. (Players automatically ignore read errors.)
First thing I'd try is DVDDecrypter, still the best ripper available. Here:
http://www.mrbass.org/
What you need to do is go into settings and do as follows:
Tools -> Settings -> I/O -> Options. Tick the "Ignore Read Errors" box. The number of read error retries is up to you, but I'd say half a dozen is enough. You're unlikely to recover much if it can't be done with six tries. Be advised that this process is slow and will take hours, so best to run it overnight.
I've heard many times that one can sometimes make a disc readable with the chalky white kind of toothpaste, polishing with it from center to rim and back, NEVER circularly. I dunno, never tried it. Or the polishing kits available most anywhere. But I'd try the above first, particularly since the disc is not yours.
One more thing, if one is trying to copy something that isn't their own property, I wish they'd keep that to themselves. Yes, it is not illegal in some places, which is why I've responded. But we really don't need to know.
[EDIT] If you can try to rip the DVD on another machine, do so. Some burners are better than others at reading problematic discs. Good luck.