Like Mark haven't bothered to do it for 8 years,
but even in those days it was pretty easy to find some good easy to use free products.
You already know the key term 'ripping'
googling 'dvdripper' comes up with a bunch of options.
My favourite from the old days was DVD Shrink (http://www.dvdshrink.org/)
because file size was important in those days.
But if you RIP a full DVD to a single AVI you will obviously lose the menus.
probably better to try and rip each episode individually.
From the modern tools WinX DVD Ripper and DVDFab HD Decrypter look to be the most popular for ripping entire dvds to harddisk.
http://www.winxdvd.com/dvd-ripper/
http://www.dvdfab.com/hd-decrypter.htm
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