Just google "rip audio from DVD". There are several programs that'll rip the audio from a DVD. This freebee rips into a mp3 file: http://www.afterdawn.com/software/audio_software/audio_tools/free_dvd_mp3_ripper.cfm Here's another with a free trial period: http://www.videohelp.com/tools/DVD_Audio_Extractor
dvd decrypter will do it heres a guide http://club.cdfreaks.com/f109/dvd-video-audio-cd-guide-139536/