http://www.aiseesoft.com/dvd-to-mp4-converter.html
Step2. Load DVD file
Then  install and run Aiseesoft DVD to MP4 Converter. Load your DVD into the  program: Please click "Load DVD" button or directly click the “File  -> Load DVD folder” in the main interface, then select your DVD-ROM  in the pop-up window and press the "OK" button. You also can click “Load  IFO File” button to import IFO file from your computer hard disk.
Step3. Select the chapters you want to convert.
You  can convert your whole DVD by highlighting the title which contains the  whole episodes of DVD, such as the title 01 in the following  screenshot. Or if you like, you can select certain chapters to convert:  Press the little button before “Check All” on the interface to find all  the chapters in the file.
Step4. Select the output Zune Video format, Subtitle and Audio.
    Format: This software can convert DVD to MP4  (MPEG-4), H.264 format, and rip DVD to Xvid video for all MP4 players.  If you don’t know much about MP4 players, just select a format according  to the name of your mobile player. For example, if you want to copy DVD  to the Creative Zen, just select “Creative Zen Player Video (*avi)”,  and the default setting works great.
       Subtitle: Regular DVD movie usually has several  subtitles, like English, French, German, etc. You can select anyone  according to your need. You also can select “No Subtitle”.
          Audio: Select Audio is the same as select Subtitle.
        After all things done, click “Start” to start conversion.