What is the best free program to rip a DVD to mp4 files ?

I own a couple of DVD's that I would like to rip and save to my to PS.

I have done it a few years ago using DVD decrtypter or rip it for free and then converting the VOB's to avi using avi demuxe.

I would now like to convert from DVD to Mp4

I understand that there are programs that can rip and convert to mp4 in one process eg mpegstreamclip

What do most of you use today (free programs only please)

Windows programs only