I've been using a free audio/video program from www.dvdvideosoft.com for several years. This morning I happened to download the latest version, 5.0, and discovered they added mobile device support for devices other than Apple.
I'm currently in the process of converting some videos and can't report on how well the new version works with my Droid, but I'd thought I would post the update.
The software (FreeStudio) is quite easy to use but not the fastest converter, but does give good results. You can download the entire studio program or just the individual program.