If you can get the DVD files into a format that's not an Image file for dvd reproduction... but are actually media files you can watch on the computer... then there are a heap of file converter programs and apps that could turn it into an MP3 or WAV.
The rudimentary solution is to run a 3.5 mm cable from the headphone jack (in stereo) to the mic input of the computer... then record the whole thing into GarageBand or similar programs. It's crude, but actually gives you a chance to do a bit of mastering for yourself on GarageBand. I've done that with a lot of super dry off-the-desk bootlegs... add touches of reverb, kill off the nasty higher end, compression, whatever.
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