DRM removal from iTunes library?

I recently switched from iPhone 4 to Samsung Galaxy S3. I want to play my entire (legally purchased) iTunes library on my new phone. I know that some songs have the DRM encryption on them. Is there a FREE, LEGAL way to remove the DRM encryption so I can play my music on my Samsung Galaxy S3? Please be clear -- I like clear instructions!

Not that I know of, maybe try a flash drive?

As far as I know, there's no FREE tool can do that.
Cost solution:
DRM removal
Try google it you will find a bunch of them
Or take a look at this one:
http://www.itunes-to-galaxy-tab.com/

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