I use DVD Catalyst. It's not free, but for $10, it was worth it because it's pretty much no-brainer. I'm not even slightly technical - I'm sure Handbrake is easy but I couldn't figure it out even using the guide. I'm a hopelessly perpetual noob. I like DVD Catalyst because it has the presets for your device and then you can tweak as you like if you understand what you're doing. The $10 is lifetime.