ok, this is going to be a bit more involved. it will rip it as one giant song. whether or not you want to split it up into individual traqcks is up to you. it's possible, but i dont like doing it.
ok, this is going to be a bit too involved for me to type out on how to do it correctly (lossless audio). you are just looking for mp3's, so i suggest you get xilisoft's DVD Audio Ripper.