Firstly, please note that I am in no way advocating pricay here, I do not condone that in any way, but I do like to archive my own dvd collection (call it a neurotic habbit).
Everything you want to do, using freeware applications is explained on
http://www.dvdrhelp.com.
It's a great site, and it has tutorials for ripping converting, and just about anything else you might want, and links to the downloads of the software you need to do what they outline.
Edit:
Mods, you can delete my post. DS3Circuit replied with the same info as me only a minute or two befor I posted. thanks.