There are dozens of programs that will rip DVDs for both Macs and Windows machines. I can compile a list for you in a bit. Handbrake and WinX DVD are two off the top of my head. Toast is another great one, but it's for Macs only.
The problem you will probably run into is copy protection, but you can get around it. Be prepared to go have dinner and a drink somewhere or take a nap because it takes awhile depending on the length of course.
Another way is you can use a screen capture program like ScreenFlow or a dozen others like it. You won't have to worry about getting around copy protection issues which will undoubtedly be an issue if it's a commercial DVD. I do this all the time and the videos turn out great. Plus it's easy to split them up this way to avoid having a huge file.
Keep in mind that you can only upload up to 500 MBs in Canvas.
By the way, YouTube allows you to keep videos private. I'm not sure if the You Tube people monitor copyrighted material if it's private, but I don't think so. They have enough to do!!