That something called Handbrake(Mac) will do that.
CAUTION: If you have a slot loading drive, they DO NOT accept miniDVDs from the camcorder.
I have a Mac PowerBook G4 and am looking to get a DVD Camcorder. I'd like to get a Sony DVD405, but I'm worried that I won't be able to rip/copy DVDs on my PowerBook. I probably won't be doing any fancy editing, so that's not a big deal.