Need to rip audio from a DVD... help plz

[Funky Fly]

K, I need to rip the audio only from a DVD (it's a live concert ish) and burn it to a CD. How do I do this and what (preferably free) software will I need to do it? I've got Nero 7 Ultra, so the burning isn't a problem.

Plz & thx

[Vietnamese Crippler]

Maybe this will work: http://www.afterdawn.com/software/audio_software/audio_tools/free_dvd_mp3_ripper.cfm