Extract DVD with subtitles

Hi all, I'd like to extract a DVD with subtitles. All the softwares i know extract them into a separate file. I'd like to get them inside the video directly, in order to export this on Vimeo. Since it accepts only video files, i need a unique file with video + subtitles ... Any ideas ? Thank you.

Hardsub from the ripped subs with VobSub() in Avisynth. Alternately, OCR them and use TextSub(), or style these OCR'd subs more extensively and use TextSub() or AssRender().

Search for burnt-in or hardcoded subtitles. However, remember, France does not recognize the fair use doctrine, so try not to put more than 10s of a single contiguous sequence.

Thank you guys. I have succeeded using VOBsub and Virtualdubmod. By the way, we have got the digital rights for this video so there's no time limit problem.