DVD Audio Extractor is one tool.
Another is VirtualDubMod (which is free.) Tutorial on how to rip with VDM here:
http://forum.videohelp.com/viewtopic.php?t=280779
I assume you're talking about ripping audio from a regular video DVD, not the high resolution tracks from a DVD-Audio disc, right? If so, the tools above will work. If you're talking about ripping high res tracks, that's more difficult.
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