Seconded. Although I tunes will actually do them itself, it's very slow.
If you're copying your own DVDs, Handbrake converts to AVI, then Isquint them.
If you have trouble with that, you can use Mac the ripper to copy the DVD to your hard disk, then handbrake them locally. Sometimes work better than directly from DVD.
Just watch disk space, Mac the ripper grabs the whole disk if you ask it to. They can be 7gb each or more.
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