As I've explained in several of my articles (see for example THIS), the easiest way to rip your own DVD's or Blue Ray discs (which is legal in several countries, particularly here in the EU) is using the free MakeMKV. MKV is the most advanced and versatile container format; this is why, among other tools, MakeMKV also rips discs into MKV's and not to, say, Apple's own MP4 / M4V / MOV files.