To copy DVDs to the Samsung S4 phone, you will need to decrypt and convert them first. In this case, DVD decryption and conversion can be accomplished with many tools on the market. There are paid and free versions that are working just fine. For this particular case, you can use DVDFab HD Decrypter which will decrypt the protected DVD and convert it to MP4 or any other supported video file format.
Download and install the application, insert the protected DVD and rip it, then you will have the possibility to convert it to a format Samsung S4 uses.