Easy way to turn a DVD into an mpeg file?

Clarification: I have the permission to do this by the copyright owner.

Last year I played in a short film (about 15min) and I have a DVD of it (with all those .vob and .nfo files and so on). Since this was not made for commerical purposes, I want to upload it onto youtube, just for my friends to see, and the director agreed, but neither of us knows how to do this.

I don’t want to go into a complicated process or install some new programme onto my PC. I was just wondering whether there was a simple way such as Windows Movie Maker, or maybe Quicktime?