[X4U] Extracting audio from a DVD

[Crandon David]

Can you guys tell me what is the best way to extract audio from a DVD 
to then record to a CD.

I have a DVD of a concert where I would like to burn the music to a CD 
to be able to play in my car. Can this be accomplished with DVD Player 
or Toast or iTunes or perhaps AudioHijack?

Thanks,

David Crandon