Download handbrake, it's free and of all the programs I have used it works the best.
http://handbrake.fr/?article=download
You will have to choose your OS, wither 10.4 or 10.5. If you don't know what you have, click the apple in the top left of you screen and select about this mac. It will open a window and you can check what version you have.
Once you have downloaded handbrake insert a DVD and then launch handbrake. You will have to choose your source in handbrake. Handbrake will open a window and on the far left is a device list. Highlight the DVD and click the choose button. Handbrake will scan the DVD. Once it is done scanning choose the format of video you want. ipod hi rez is best. It will work on itunes and an ipod. Now just click "start" in the upper left corner and wait 2-3 hours.
Once finished ripping the DVD Handbrake will put the movie file on your Desktop. Rename the movie file whatever you want by clicking it once then pressing "function" and "enter" keys. Now, launch iTunes and select movies. Press f11 to see your desktop and click and hold the movie file and press f11 to bring back itune, the movie file should show a red circle with a plus sign, when it does, release and itunes will import it. You should see a status bar at the top of itunes. When itunes is done, delete the movie file on your desktop and you are done.
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