Magic DVD ripper...
heres a link to the website, its only a free trial edition...soo i mean it has a time limit but im sure you could find a ::Cough::torrent::cough::
plus Magic DVD ripper will convert it to MP4... so no need for another program
Magic DVD Ripper
edit: i used magic dvd copier for a little while and worked well so I have faith that Magic DVD ripper will do the job...