I wrote a guide that uses Nero Recode and DVD43, both of which are free, to convert DVD to iPod. It works with encrypted DVDs too.

You can download Nero Recode here.
http://download.softpedia.ro/dl/2099cf8551e2778d2995b3c3629550ea/485e7701/100014536/software/CD%20TOOLS/NeroDigital_RC-2.2.6.17c.exe

You can download DVD43 here.
http://fileforum.betanews.com/detail/DVD43/1118268636/1

The guide is located at http://ncane.com/90d

Hope it works for you all, here's a picture of my iPod playing one of my movies I converted with this guide: