last I checked you need to purchase the Roxio program (if you're on a mac that is). It will do ToGo and then convert to an iPod syncable file. Depending on your computer, the conversion can take awhile.
No idea about windows, haven't played with it since the roxio solution came out.
The mac version worked for me perfectly. There isnt a setting specifically for "Iphone", but I used the "IPod" setting and it converted it nicely. The next time I synched with ITunes, it uploaded it without a problem. The instructions on Roxio's site helped me out.
i use my pc to transfer from my tivo, then from my pc to my mac, works perfect, just choose ipod for the conversion setting. got a few episodes of family guy and house on my iphone