Burning a DVD Movie (non-copyrighted) to Itunes Version 8.2 on the Mac

I'm trying to figure out if it's possible to copy/rip a home movie video that given to me on a DVD and copy it into iTunes. This is a non-copy righted DVD. It's a DVD that was simply given to me by a family member with old family footage. My goal is to have it in iTunes so I can A) copy it to my Apple TV so I can watch it on my television set and B) copy it to my iPhone.

Will the Apple software of my iMac handle this task or do I need to purchase some third party software to copy/rip DVD movies to my iTunes on my iMac. I clearly understand that you can't or should not copy/rip regular copyrighted DVD's, etc. as they are copy protected but this is simply for non-commercial video footage, etc. that happens to be burned on a DVD.

Thanks!