I have a UDF format DVD which plays on my MacBook Air - How do I convert it into a different file type so I can put it onto YouTube?

About 10 years ago, I took an old VHS of a day out in Brazil to be converted to DVD at a shop. The DVD worked (and still does), so I thought nothing more of it. Now I want to be able to share the DVD with my friends, but YouTube is not allowing me to do that in its current format (UDF). Is there any free way I can convert the UDF to AVI / WMV or whatever else, on my MacBook?

Thank you in advance.