Athorkey allows you to follow the iPhone closely

HandBrake for Mac has export for iPhone

It is a free application that allows you to convert DVD VIDEO_TS folders into movies in MPEG-4 format to make the video compatible with playback on Mac, iPod, iPhone, Apple TV, Sony PlayStation Portable (PSP) and other compatible devices. the MPEG-4 format.

The application, HandBrake 0.9.0, now offers a revamped user interface; get better image quality when it is resized; and faster conversions between different formats. It also has predefined settings for exporting video in a format compatible with the iPhone and can now be downloaded for free.