Converting dvd content to mp4

hi guys
just wondering whether it is possible to put dvd video on your hard drive, and then convert that video to mp4 format so that it can play in itunes and the video ipod. i have some music video clips i want on there but dont wanna shell out money for the bloody things on itunes. is there a program out there that can do this with ease?
thanks in advance

http://www.tomdownload.com/multimedia_design/video/xilisoft_dvd_to_ipod_suite.htm