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.

Thanks,
Ernie