I found this answer months ago, but it's no longer up anywhere.

I'm trying to convert DVDs for my iPod and I want the English subtitles that exist on the DVD. I have DVD Decrypter, 3GP Converter, and Nero Recode at my disposal. (No, I'm not going to download anything else; I saw months ago this is possible with JUST THESE applications, and someone out there knows how to do it.)

I know it boils down to making sure I include the English subtitle track when ripping the DVD to my hard drive; however, it's not behaving as it should when I select stream processing, the main movie PGC, then the video, audio, and English subtitles tracks. Something in the settings is missing, and I can't remember what it was. And no, it's not instinctive.

Thanks to whoever helps me find this solution.