My iTunes will not allow syncing from my computer to it's library when I insert a DVD into my computer's drive.

I have searched on the internet for a way to accomplish this but I continually find these downloadable converters that will work but they charge $39+. Also, I would rather not pay iTunes $10+ dollars for a movie that I already own.

I just want to be able to transfer/download a DVD to my iphone. Anyone know how?