[ps burley]

having read several forums i am still confused as to the best way to convert my dvd's to play on wdtv live. I have read mKV is the way but then read that you lose sound on some dvd's....all i want is a free pref software that will convert my dvd to a hard drive, fast and without loss of quality that will play sound and video on a wdtv live...chapters would be nice if poss. want free s/w if poss as I dont have many dvd's.... your advise guys?