Extracting Audio track from DVD Movie

I want to make an audio Cd of the soundtrack of a DVD I have. I know how to copy etc but have never tried this. Is it possible and if so what software do I need to do it. Any help is appreciated.


I am sure there are some “freeware” programs out there that someone will recommend. I have used Apollo’s DVD Audio Ripper and it works nicely for ripping audio from DVD.