How to extract, edit & recode dvd audio?



i am familiar with mpeg-1 or vcd dat files. i use soundforge & goldwave to edit the l & r audio tracks.

can i do the same thing with dvd or mpeg-2 files? i want to extract the left & right audio track, edit it & recode it back into the video stream. both programs can’t see the video files or audio tracks.

does anyone have a summary of methods & programs to do this?

thank you.