What is a good program for converting DVD to MP4?

[chas_chas_123]

My children want to watch DVDs on their PSPs.
I've got as far as figuring out that I need a program to rip the DVD and convert to MP4.

The ones that I've looked at do loads of other things too, that I don't need, and none of them are free. (They put a watermark on or restrict length to a few minutes.)

Any suggestions on a good one. And are any free?

[Erik Schoolcraft]

Videora is the best.
It says it is only for iPod but you can still convert your files to MP4.