It’s been a while since I’ve done this, but Handbrake still works. The only trick is setting the encoding, I like to use X.264 and Handbrake.fr says to use RF Quality 20 for DVD and 22 for Blu Ray. This Constant Quality setting should work pretty well.
The other setting which isn’t on by default is in Picture Settings and is called decomb. This looks for interlaced DVDs and fixes them. Usually, it won’t be a problem but harmless to leave on.