You should try out DVD Fab. It's relatively easy to use when you select tracks what you want to rip. I'm not sure of your DVD source - is there separately marked tracks for episodes. If its all in "one stick", you have no other choice than rip the DVD in one large file, encode it to what you prefer, and split the episodes eg. with Easy Video Spitter, virtualdub mod or other similar software which does the job as direct-stream-copy without new re-encoding.
Edit: or just encode the tracks separately from ripped RAW's.