Extracting sound from DVD? Possible?

[D5T]

In a nut shell there is some audio on various DVDs that I'd like as individual sound files. Not really fussed on format whether it be wav/mpe/etc.

Anyone advise a good (Free?) program that will help me achieve this?

The audio in question is just talking not music if that makes a difference?

Any help massively appreciated. Cheers

 

[startrek2]

plenty on dvd mp3 rippers about google is your friend