I would probably head over to phazeddl.com and do a search for Convertxtodvd. I'd probably make sure there was a keygen or a serial included in the download or I'd search for one separately on the same site. Probably. Then I'd have a good dvd encoding tool for free.
Once I had that up an running I'd probably download the free programs DVD Decrypter and DVDShrink, just in case I ever needed to make a backup of a DVD for personal use.
You could also use
AutoGK for encoding dvd from avi or other sources. It's free but it takes longer than ConvertX and is more resource heavy. Plus you'll have to try a bunch of the download mirrors to find a working one at any given time.