i use a combination of MacTheRipper and ffmpegX. MacTheRipper is freeware for ripping DVDs. ffmpegX is a shareware with a brief nag when loaded but all functions can be used without limitation. below is a brief settings which will convert the videos to MP4 format which your phone can play without extra software.
Video Codec: MPEG4 [.MP4] (ffmpeg)
Framerate: 15
Video Bitrate: Best
Audio Codec: AAC (MOV/MP4/3GP)
Audio Bitrate: 64 kbps
Sampling: 24 kHz
Mode: VBR
Filter: Deinterlace
Options: High Quality, Two-pass encoding, Trelliz quantization