This article explains how to copy CDs to your iPhone or iPod using iTunes. Instructions apply to iTunes version 12 or later.
How to add MUSIC from your computer to your iPhone, iPad or iPod?
To start the process, make sure you import the songs from the CD in the format that you prefer. The two most common music formats for use with iOS devices are MP3 and AAC.
To choose your preferred format, launch iTunes. Then open the Preferences window (on a Mac, iTunes menu > Preferences; on a Windows computer, Edit > Preferences).
On the first tab, at the bottom, is a section labeled When a CD is Inserted. There are several options in the dropdown menu, but you'll probably want to choose Ask to Import CD or Import CD, which will automatically copy the CD to your library.