Extract sound from DVDs

Hi, guys, I´m trying to extract the sound from a live-DVD of my favourite band to my harddisk to have it as a mp3. Is there any possibility to rip the sound without having to run the whole DVD?

I hope there are better options than Audacity (any freeware or open source would be appreciated, using WinXP).

Audacity. Why not?

>>2
Because it´s just recording, not ripping, which means I have to run the whole DVD. And Audacity only records in mono, not in stereo (Or are there any settings for that? I haven´t found any yet).

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