Saving DVD to hard drive

First. I have limited knowledge of processes. So here goes. I have five separate dvd's of my concert, all under 10 minutes, that I want to upload to my YouTube site. How do I do that? I thought if I could save them to my computer and then browse that would do it. I have Windows Media Player, Roxio for making copies and my computer is an Windows XP. I don't know how to save the DVD to the hard drive.
Please help.
Thanks

I need to know what format the videos are on your DVD. Are they formatted for DVD (.vob) or are they something like .mpg or .avi?

http://www.doom9.org is a great place with lots of tutorials on video and ripping dvds, but it depends on what format you are starting from.