How to copy audio from DVD onto CD?

[powerslave]

I have numerous concert DVDs that I would like to copy the audio off of. Anyone know how to do this? I wouldn't want this copy in MP3 format because then I would not be able to listen to the disc in the Tahoe.

I recently bought a Sony Vaio computer, so I think I have the necessary hardware to this (DVD player, CD burner).

 

[jerkbox]

you would need a tool to rip the audio....any video editing thing should be able to do it i would imagine