Cucusoft and Xilisoft are the best for PC. I have found that the best by a very large margin though is Toast Titanium if you have a mac. It is a CD/DVD burning software, but it flawlessly converts all video types and automatically syncs it to your iTunes. Just one click, wait, and drag into your phone and its there, easy as that.
If you have a Mac and need a new program to put on it, I recommend Toast because it converts, but does much more as well.
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