I've never done it, but http://www.google.com/search?q=extract+audio+from+dvd seems a good start.
Use any sharewares trial period to see if you like it before buying it.
Kees
I purchased the James Taylor ONE MAN BAND DVD.
How do i suck just the audio out or transfer just the audio to a CD to play in my van's audio player/system ?
I thought i could do that with the latest iTunes but if so it sure eludes me ( or perhaps it's so obvious MR MAGOO here just can't see it ).

Chowhound
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GameFAQs
GameSpot
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TechRepublic