I absolutely recommend
Exact Audio Copy to rip CDs. It uses sophisticated error correction to help ensure that the result is free of glitches, skips and other errors. I've ripped heavily-scratched CDs with it and they came out sounding great. The trade off is that it is very slow. The worse the CD, the slower the rip. This is because if it encounters an bad block on the CD, it will repeatedly read that block until it is sure the data is correct, before moving to the next block.