you need a dvd to mp4 converter to convert the dvd to mp4 format. i recommend you Leawo Free DVD to MP4 Converter. I download it freely from here
http://www.google.com/search?hl=en&q=leawo+dvd+to+mp4+converter&aq=f&oq=&aqi= it is free with no limitation. and it can be used to convert dvd for ipod, psp, iphone, apple tv, mp4 player etc. and here are some steps.
1,open the program, and insert the DVD. click Load DVD to find the video you want to convert.
2,setting. choose MP4 as output format, and the folder you want to save your mp4 video in.
3,click start then wait till the process finished.
4,when you got the mp4 video, you can drag and drop it into the VIDEO folder in your MP4 player. if you need a detailed guide you can check this page.
http://www.google.com/search?hl=en&newwindow=1&q=site%3Aleawo.com++dvd+to+mp4+guide&aq=f&oq=&aqi=
Wish help and good luck.