A new Linux interface to HandBrake called HandBrakeGTK can convert DVDs to H.264 for viewing on your iPhone or iPod Touch. It’s simple to use (no terminal commands), fast (especially with multi-core CPUs), and is easy to install in Ubuntu.
Download and install the DEB package from the HandBrakeGTK download page.
Insert the DVD you want to copy into your DVD drive. If the disk you want to encode from is a commercial encrypted DVD, your system needs to have software installed that can decrypt it.