Handbrake is open source free software for Linux, OSX, and Windows!

It can rip DVDs to perfect 720p video files using the h264 video codec w AAC audio. The container options are MP4 and MKV (preferred, superior open source container). Handbrake allows for chapters to be auto created within the video, as well as optional subtitles which can be turned on or off during the viewing of the video!

Here is the link: http://handbrake.fr/

USE IT!

Personally i still use ffmpeg for all my stuff. I like command line (it takes a while to learn, but then you can do more with it) and i also like to do Ogg, and HandBrake just doesn't cut it there. Having said that, i really wish that you could do chapters with ffmpeg, but i doubt that this will be coming any time soon.