Dvd to cd audio



I am looking for a way to transfer the audio from dvds to cds. I teach and it would be useful for me to be able to listen to the audio of various dvds I own on headphones or in the car. I have Dvd Shrink 3.2, Nero Startsmart and Record Now installed on my pc. Any advice is welcome. Use of sharewear or freeware desireable given teacher’s slary. Thank you all