No, not starting a piracy operation.

Just a DVD for my own use. Pal gave me a Bill Hicks DVD with 4 different performances on it. I have a USB DVD drive to plug in, so reading it is not an issue, but ideally, Id like to rip the 4 performances to .MP4 files, so I can watch on my TV etc...
Without installing any 'dodgy' software, (or 'Paid' software - Not worth it for one disc) what's the easiest way to achieve my goal? Last time I ripped a DVD was around 2004/5 so I'm totally out of the loop!
Both a Win 10 Machine and iMac available to perform the task.... So???
Cheers !