I believe this is legal for DVDs you own for personal use only. It is perfectly legal for distributing video of the kids to Grandma.
HandBrake is a GPL'd multiplatform, multithreaded DVD to MPEG-4 ripper/converter. HandBrake was originally available on the BeOS, but now has been ported over to MacOS X and to GNU/Linux.Cute net address. I'm sure "m0k" means something ominous to some people.
* Supported sources:
o Any DVD-like source: VIDEO_TS folder, DVD image or real DVD (even encrypted)
o PAL or NTSC
o AC-3, LPCM or MPEG audio tracks
o File format: MP4, AVI or OGM
o Video: MPEG-4 or H.264 (1 or 2 passes or constant quantizer encoding)
o Audio: AAC, MP3, Vorbis or AC-3 pass-through (supports encoding of several audio tracks)
* Misc features
o Chapter selection
o Basic subtitle support (burned into the picture)
o Integrated bitrate calculator
o Picture deinterlacing, cropping and scaling
o Grayscale encoding