I agree with nineteentwelve, Handbrake is really good. Another options is iSquint, if you're on a mac. Not to sure about the windows side, but when I was on it I used Videora.
Using HandBrake yes. isquint and Videora are just converters not rippers. Good DVD rippers on the mac are MacTheRipper and of course HandBrake. On Windows DVD Decrypter is what I used.