I dont want the whole dvd on my pc

im looking for a free software download that will allow me to take a few chapters off a dvd and put them into mpeg’s so i can put them on youtube.
now it is a homemade dvd of one of my concerts and i onloy want a few songs. is there a program that will extract the chapters or would it be easier to just edit the entire video and cut out the parts i want? either way i will need the site for the program you are speaking of.