DVD Rip Using DVDfab and Handbrake
From Free Knowledge Base- The DUCK Project: information for everyone
Complete Process Guide
Subtitles: forced only, burned in, default
Whether you choose "burned in" or not depends on the container. With MP4, you have no choice (the subs will be burned in), with MKV, it's up to you to decide whether you want soft subs (not burned in) or if you prefer the subs burned in the video.
When encoding, go into the subtitles section, select English from the list and then tick all three boxes next to it "Forced Only", "Burned Inn" and "Default". This will burn subtitles for foreign audio into your movie.