Rip Audio from DVD to mp3

Cramit

I have a couple of Concerts on DVD. I would like to take the audio from those dvd'd and make mp3's from the songs. I have a MacBook with both Ubuntu and Windows 2000 available though parallels. Any ideas?

Sail

Google knows.

Cramit

I forgot to put my other stipulation to acceptable solution, it must be free (I am cheap). I think I found my answer with this. Thanks.

Sail

The free-factor is a given ~_^