Didn't say what platform your on, but from the Mac side - Toast or Popcorn. From the same company - Popcorn is cheaper and made to do this, Toast does more DVD/Disk burning, but can do what Popcorn does. If you want to spend a little more money and speed the process up, get Elgato's Turbo.264, it comes with a h.264 coprocessor that offloads the conversion into h.264, and cuts down the time required to do the conversion. Miglia makes one too, and for the same price. The Turbo.264 is nicely integrated with Elgato's EyeTV, so it will convert recorded TV directly into h.264 for the ipod from that program, or it has it's own standalone application to do for other videos. None of these will do an encrypted DVD, but convert anything else.
Don't know about the PC world but would guess the same sort of stuff exists there too.
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NR5AR
Carrollton RACES/ARES #4007/A07