I used a program which I am forgettting the name of at this time. You don't need a DVD burner for this either, just a DVD ROM. It is a piece of cake. Basically, you just put in the disc, select the tracks you want and the directory to put them in. You hit the button and within 20 minutes, you have the disc in wave files.
I used to do it another way, but had to spend hours cutting up the wav file into seperate songs. But with this, I just hit the button once and it automatically splits the tracks exactly as they are on the DVD. I will check when I get home as to what it is called.
The thing that sets this program apart from the others is that it is made specifically for this purpose, nothing more, nothing less. As such, it does it's job great. I have basically extracted audio off every music DVD I have including the HTDAAB bonus DVD, Live Aid, Boston, and a few bootleg videos with good sound.
I have never used DVD Decrypter, even though I have the program, so I can't speak too much to it. But if Carl says it works, then you might want to try that. The program I am talking about isn't freeware