Not all DVDs have DRM protection, Nate. I have myself, for example, converted for my iPod many DVDs that I've recordered myself from the TV. My favourite software, which works very well indeed, is "Fair Use Wizard". See:
http://www.fairusewizard.com
"Lite" version is free. Full version, which is a lot more powerful, and supports the iPod, costs $19.99.