I’ve mentioned handbrake in the past – it’s a great DVD ripping utility with an easy to use interface. Despite being easy to use you might still find this great tutorial on how to rip a DVD using it. It’s published on a mac site and uses Mac screenshots to demonstrate, but Handbrake is available on all platforms and the basic steps remain the same no matter which platform you’re on. Free, open source, cross platform, and easy to use.