I do quite a bit of exactly what you are looking to do,, the link listed above
www.dvdrhelp.com is where i learned to do it, I used sefys beginner tutorial and went from there. all the info and links to the programs you will need are on that site the basics are as follows
1. rip the data from the dvd to the hard drive, to do this you will need a dvd player and a software ripper, there are several that work well personally i use a program named smartripper the link to which can be found at above site
2. you have to run a second program to creata a d2v file, this is if you use tmpgenc to do your encoding this second program is called dvd2avi, a link to it can also be found on the link above
3. Encode the d2v file to whatever output you want be it avi, mpeg etc.
actually here is a direct link to sefy's tutorial
http://www.dvdrhelp.com/sefy/?id=ClassicalGuide.html
you wont need to frameserve, chapter, or author though to do what you want to do, if you cant get the info you need out of the tutorial email me at
tim@southernmarylandfishing.com if you neeed help