I searched for ages to try and find anything that actually worked but, if you download:
It basically bypasses any copyright protection on the DVD because some rippers dont work when there is protection on it.
Then get http://www.dvdfab.com/download.htm
DVDfab Platinum (Not Gold) and install it. Its simple to use, works well, just boost the volume up in the configuration section before ripping. Then just add it to your iTunes when ripped.
Make sure that before ripping or anything you select the iPod section menu on the left of the window and go from there.
The trial lasts 30 days i think, but its like the Winzip trial in that if you unistall it through the Control Panel, you can download it again and it'll work properly.