Open the decrypted DVD with DVD Decrypter (newer DVDs-use DVDFab & save in file/folder format):
In DVD Decrypter:
Click on tools @ the top & choose settings.
Click on the "ifo mode" tab.
On the left, click on the "file splitting" drop-down & choose "by chapter" - most music DVDs > ea. chapter = a song. If you have 15 chapters, you'll wind up with 15 vobs, ea. one being a song. Once converted .vobs to .wav format (I use SUPER like Deanimator suggests), you'll wind up with 15 audio tracks already split for your convenience.)
If it's a live DVD (no audio pauses between songs), set your Audio CD burning software to eliminate gaps between tracks.
This way, you can skip to any track as usual with a CD or you can let it play song to song & it will sound EXACTLY like the DVD...