New to iPhone: Adding Movies with a Mac

Hey ladies and gents! As you can see, I am a new iPhone user (4s) and a new MRF member!

I've got a MacBook Pro and an iPhone 4s.
So far, I love both, however i've encountered a problem. I want to add DVDs to my iPhone, but I can't work out how to do it.

I've ripped the DVD to my HD with Handbreak, but the video quality is awful and it's all fuzzy and broken up.

Can I have a basic tutorial on how to put DVDs on an iPhone using a Mac?

Thanks.

- will