Can I rip a soundtrack from a DVD?

I have a couple Musical DVDs (various Rock bands on tour) that I'd like to rip / convert to mp3's or CD format so I can listen to them in the car.

Is there software that can do that? I thought I saw one a while back that could convert realtime audio, then I could reconvert that to be compatible to a car CD.

Any suggestions?

Haven't used it myself,but have heard good things about this free program ...

Thanks Ridgerunr.

I never heard of that one before, but I'll give it a try.