Since Audacity can record what you hear you can play the DVD and record it directly. Done.
You can also look at software like VOB to AVI like SUPER VIDEO CONVERTOR (sorry but it's free, has no watermarks and folk can learn how to use it.) Now with the video in some other format we can use VIRTUAL DUB to split off the audio into a MP3. This is not an offer to write a tutorial on said FREE titles but to supply the parts I use to do this.
Can I import audio from a dvd disc directly into Audacity 1.3.12 Beta (with ffmpeg library) and then convert the file to mp3? Thinking that I could, I dragged a file from the disc into Audacity, but the error message says that Audacity doesn't recognize the .VOB file. If I should be able to do this, what am I missing? If not, what do I need? I don't want to make an investment in the project because it's only a couple of dvd discs.