Copying a title from a DVD with subtitles

[sciurius]

The question is actually very simple: How do I copy a given title from a DVD while burning in one of the available subtitles.

While searching the archives I've seen many suggestions that make me think VLC's convert facility should be able to do this, but I could not find a useful answer.

I tried (using the GUI) to convert to one of the supported formats but most formats do ignore the subtitles. Currently I use the following (very slow and long) procedure:
* Convert the title to H264+AAC (TS), 2048kb/s
* Use DeVeDe to transform the resultant file into a DVD structure.
I'm sure this can be done much easier. Any help is appreciated.

Slightly related: When performing a conversion through the GUI, is it possible to show the corresponding CLI options?