pqdvd isn't free, but will do upto 5mins of video on the trial version. its simple to use and very good, would recommend buying it, if u are after something to do convert larger files.
right now i use cucosoft dvd to ipod for my converting, but it takes like an hour per movie. how long should it take? im not sure if that is normal of not.
That is an adequate speed for DVD Decrypting & transcoding. But if you are going to pay for a software, I recommend PQDVD..