Handbrake is free and powerful. However, as for a novice, I prefer to the easy to use DVD ripper like Leawo DVD Ripper. And you can follow below steps to rip a DVD.
Load the source DVD file
With Leawo DVD Ripper running on, click "Add Blu-ray/DVD" to add DVD files or just drag and drop DVD files onto the Leawo DVD Ripper software.
Choose Output Format
Click the drop-down list named MP4 Video by default on the left of the green "Convert" button, and choose output video format.
Note: The drop-down list is named MP4 Video by default, but if you have changed the output video formats into others, the drop-down list will display the according name. For example, if you have set MOV as output video format, you will see the drop-down list display MOV Video when you launch Leawo DVD Ripper again.
Adjust detailed settings
Clicking "Edit" to adjust video and audio parameters of output format, including: video codec, quality, bit rate, frame rate, aspect ratio, channel, audio codec, resolution, etc.
Note: This step is optional. If you don't know the exact parameters to set, you can directly leave those parameters at default or just skip the step.
Start video conversion
Click the big green "Convert" button on the top-right of the interface to start the conversion. Before conversion, video saving directory can be chosen.
For more details, check:
Rip DVD to Computer