A program suitable is DVDx which is able to convert a DVD movie in just a few steps. Download the software from the source above and make sure that you also got the codecs installed, if you do not have it download the xvid codec from Koepi. Start DVDx after installing the software.
The first step is to load a DVD folder. I use to have the DVD video_ts folders on my hard drive already and just point DVDx to that location. It asks to pick a title from a list of available ones. If there is more than one title in the list select the one that fits the movie length.
Most of the settings in the next window can be left unchanged. The important settings are found under Misc. Select the correct iDCT and check Audio / Video Synchronization. If you have a NTSC DVD you need to change the Output Frame Rate from PAL to NTSC 29,97. Click OK.