Extracting DVD audio to cd

I was wondering if anyone had any recommendations for a program that would extract audio from a dvd to burn to a cd or save to a hard drive. Basically, I have some concert dvd's that have some pretty amazing renditions of songs on them that can't be purchased in cd form. I want to be able to extract the audio tracks to make a cd so I can listen to it in my truck. I looked at download.com and found DVD ripper but was wondering if anyone had experience with this or other programs that would be suitable for this task.

I use DVD Audio Extractor.

It's not free, but you can download the 30 day trial from here:http://www.castudio.org/dvdaudioextractor/

Did the job for me.

Al