How can I extract movies off a home movie DVD for use in iMovie?

Hey all,

Years ago, I took some old VHS videos of me playing in various basement bands, and had CVS send them away and convert them to DVD's. I now have the DVD's, but I can only watch them on a standard DVD player (or my computer). What I'd really like to do is get these videos off the DVD and into iMovie, so I can post them on Rumble for friends and family. Is there any free software to do this or does the Apple App Store have an app that can accomplish this?