Use Handbrake to convert to an iPad friendly format. You can use the Apple TV setting, but if you Google Handbrake iPad, there are a few write ups on optimal settings.
If you're on Windows, use DVDFab Decrypter to rip to your hard drive then use Handbrake. I use the Universal setting on Handbrake. It's good for viewing on TVs, iPad, iPhone, Touch, etc.
Use Handbrake to convert to an iPad friendly format. You can use the Apple TV setting, but if you Google Handbrake iPad, there are a few write ups on optimal settings.
You can also try RipIt in place of MTR. Both are good programs. If you use one of the nightly builds of Handbrake it has a appleTV2 setting that works well for the iPad.
Nobody seems to have mentioned that if it is an original shop bought etc dvd, then most of these have some form of copy protection on them.
I use a program called AnyDVD. This runs in the background, and makes any dvd that is put in the drive, appear to have no copy protection on it, thus then allowing ripping etc.
I've used AnyDVD for a while and Handbrake, they are a good combination in my opinion.