How do I rip music from a concert DVD?

I just got a new Cowboy Junkies cd/dvd called "Long Journey Home" and it comes with a DVD (18 songs) of the concert and a cd with some selected songs (11 songs). I'd like to be able to rip some of the DVD songs into itunes minus the video part. This way I could play it using Amarra.

Is this even possible? I hope so because there's several songs on the DVD that I'd like to be able to hear through my computer audio rig.

DVD Fab is the best program for this. Yes, I have used DVD AE as well. DVD Fab does everything that DVD AE does, and a whole lot more. And it has a very easy-to-use, intuituve interface...