http://handbrake.fr/

That's where you download Handbrake. I like it because you don't have to worry about resolution, it has presets. iPods can't read MPEG2, MP4 and H.264 only. Better compression is more important that battery life because the iPod hard drives are so small.

Open Handbrake, it automatically asks you to select a source. Click on the DVD. In the Presets select iPod [Classic, Touch...] Press Start, it couldn't be easier. You can adjust all of the functions if you want higher quality or such.