I do this all the time. Basically I follow the DVD to DVDR Tutorial posted here but with a couple of amendments.
Rip each Episode off the DVD to its own folder. Encode each episode separately (I do this in batch mode) but in the Bitrate Tab of DVD2SVCD, I set the CD size to 1/4 of the 4400 (1100) if there are 4 eps/dvdr or 1/6 of 4400 (740) or what ever. I normally extract the Menu off the DVD where needed and then author all in Maestro, loading in the Menu. Again, read the Tute. You can also use DVDLab or TMPGEnc DVD Author.