Help with converting dvd files to ipod with ImTOO converter

I'm trying to convert some files to my ipod, so I download the ImTOO converter and tried to convert the video files on the Matrix disc. I have never done this before and when I tried to encode the files or whatever, I had no success. Plus, I think I have to pay for the ImTOO program. If anyone could help explain the process of this to me and maybe suggest a free program that would do the same thing as the ImTOO program, I would be greatly appreciative. Thanks in advance