As far as I know (and I've ripped various episodes of MacGyver onto my iPod), it's legit as long as you own (i.e. purchased yourself, or were given as a gift which someone else legally purchased) the disc you're ripping it from. It'd be kind of stupid for royalties to be charged on the same customer for the exact same product. Unless you're going from one tangible format to another, like upgrading from VHS to DVD, of course.
If you're really worried about it though, you could always fork out the money to download the episodes through iTunes, but that seems like overkill to me.
"You take turns, advise and protect one another, even heal or be healed when the going gets too tough. I know! That's not a game--that's friendship!" ~Shelly Mezzanoble,
Confessions of a Part-Time Sorceress: A Girl's Guide to the Dungeons & Dragons Game Darcy\'s Place
