Recording audio from a DVD?

I was wondering if I would be able to record just the audio portion from a concert dvd onto a Cd; is there a way to do it on a PC? is there anti piracy stuff on dvds that would prevent it? any ideas would be greatly appreciated.
Here's a website for reference:

There was another easier to use guide, but the page has been down for quite sometime. It used Smartripper to extract the audio and HeadAC3he to transcode AC3 to WAV. No support for DTS soundtracks though.
You can use TOTAL RECORDER. cost is $12 us dollars.Do a search and then you download the recorder to your pc. Also good for recording webcasts from ie.BBC3.
Hey, lvk47. The Total Recorder site is really interesting. Thanks for posting it.