Ipod classic video conversions

How do I convert videos (such as .mpg) to my ipod (.mp4 of course) i have tried videora, it ***** to be honest. Either that or I'm using it wrong, because when I convert it, it plays back choppy (when on the .mpg it was very clear on not choppy). I also need freeware, and non-blocky conversions. I know this is like asking for a miracle, but is there any program that fits all of these specifications.